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Journal Articles

Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing

Andrew L. Chang, Ivonne Munoz, Christopher Sanchez, Leopoldo Sanchez IV, Christopher L. Lee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044506.
Paper No: JMR-24-1434
https://doi.org/10.1115/1.4066925
Published Online: November 6, 2024
View Article titled, Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing
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Topics: Collisions (Physics), Gears, Kinetic energy, Origami-inspired design, Resilience, Rotorcraft, Stiffness, Testing, Flight, Design
Journal Articles

The Interior Contact-Aided Rolling Element

Daniel Orr, Anna Jensen, Tyler Peterson, Brianna Bischoff, Luke Taylor, Daira Velasco, David Fullwood, Larry L. Howell, Anton E. Bowden
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044501.
Paper No: JMR-24-1452
https://doi.org/10.1115/1.4066851
Published Online: November 1, 2024
View Article titled, The Interior Contact-Aided Rolling Element
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Topics: Bending (Stress), Compliant mechanisms, Compression, Design, Finite element analysis, Rotation, Stiffness, Stress, Testing, Mechanical testing
Journal Articles

Safety in Wearable Robotic Exoskeletons: Design, Control, and Testing Guidelines

Ali Nasr, Keaton Inkol, John McPhee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. May 2025, 17(5): 050801.
Paper No: JMR-24-1094
https://doi.org/10.1115/1.4066900
Published Online: November 1, 2024
View Article titled, Safety in Wearable Robotic Exoskeletons: Design, Control, and Testing Guidelines
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Topics: Design, Exoskeleton devices, Safety, Sensors, Testing
Journal Articles

New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer

Miguel De La Melena, Shawn Duan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091012.
Paper No: JMR-23-1689
https://doi.org/10.1115/1.4065082
Published Online: May 10, 2024
View Article titled, New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer
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Topics: Design, End effectors, Engineering prototypes, Equations of motion, Finite element analysis, Kinematics, Manipulators, Optimization, Testing, Degrees of freedom
Journal Articles

Design and Testing of a New LARMbot Torso

Wenshuo Gao, Matteo Russo, Marco Ceccarelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091007.
Paper No: JMR-23-1617
https://doi.org/10.1115/1.4064486
Published Online: February 1, 2024
View Article titled, Design and Testing of a New LARMbot Torso
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Topics: Cables, Design, Engineering prototypes, Kinematics, Testing, Humanoid robots, Servomotors, Disks, Kinematic analysis
Journal Articles

Analysis and Optimization of a 6-DoF 3- R R P S Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery

Michael Clancy, Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, Sean McMillan, Iulian I. Iordachita, Mohammad H. Abedin-Nasab
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061006.
Paper No: JMR-23-1106
https://doi.org/10.1115/1.4063167
Published Online: August 29, 2023
View Article titled, Analysis and Optimization of a 6-DoF 3- R R P S Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery
Open the PDF for Analysis and Optimization of a 6-DoF 3- R R P S Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery in another window
Topics: Design, Femoral fractures, Fracture (Materials), Fracture (Process), Genetic algorithms, Optimization, Parallel mechanisms, Robots, Stress, Surgery
Journal Articles

Robust Multilegged Walking Robots for Interactions With Different Terrains

Nina Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011010.
Paper No: JMR-22-1488
https://doi.org/10.1115/1.4062303
Published Online: May 26, 2023
View Article titled, Robust Multilegged Walking Robots for Interactions With Different Terrains
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Topics: Design, Kinematics, Robots, Testing, Trajectories (Physics), Linkages
Journal Articles

Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot

Alexander G. Steele, Apploinaire Etoundi, Alexander J. Hunt
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014503.
Paper No: JMR-21-1467
https://doi.org/10.1115/1.4054441
Published Online: June 6, 2022
View Article titled, Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot
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Topics: Biomimetics, Design, Kinematics, Knee, Muscle, Robotics, Robots, Stiffness, Testing, Torque
Journal Articles

Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

Ryan Moore, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031001.
Paper No: JMR-20-1437
https://doi.org/10.1115/1.4050104
Published Online: March 12, 2021
View Article titled, Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator
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Topics: Actuators, Cables, Deflection, Design, Pulleys, Springs, Stiffness, Testing, Motors
Journal Articles

An Origami-Based Medical Support System to Mitigate Flexible Shaft Buckling

Brandon Sargent, Jared Butler, Kendall Seymour, David Bailey, Brian Jensen, Spencer Magleby, Larry Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041005.
Paper No: JMR-19-1228
https://doi.org/10.1115/1.4045846
Published Online: March 6, 2020
View Article titled, An Origami-Based Medical Support System to Mitigate Flexible Shaft Buckling
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Topics: Biomedicine, Buckling, Cylinders, Design, Instrumentation, Robots, Engineering prototypes, Robotics, Stress, Testing
Journal Articles

Design of Compliant Three-Dimensional Printed Surgical End-Effectors for Robotic Lumbar Discectomy

Benjamin V. Johnson, Zekun Gong, Brian A. Cole, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020914.
Paper No: JMR-18-1380
https://doi.org/10.1115/1.4042543
Published Online: February 27, 2019
View Article titled, Design of Compliant Three-Dimensional Printed Surgical End-Effectors for Robotic Lumbar Discectomy
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Topics: Cables, Design, End effectors, Instrumentation, Robotics, Surgery, Discectomies, Testing, Kinematics, Grasping
Journal Articles

Design and Testing of a Soft Rehabilitation Glove Integrating Finger and Wrist Function

Jiangbei Wang, Zhaoyu Liu, Yanqiong Fei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011015.
Paper No: JMR-18-1167
https://doi.org/10.1115/1.4041789
Published Online: December 10, 2018
View Article titled, Design and Testing of a Soft Rehabilitation Glove Integrating Finger and Wrist Function
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Topics: Actuators, Design, Testing
Journal Articles

A Model for Multi-Input Mechanical Advantage in Origami-Based Mechanisms

Jared Butler, Landen Bowen, Eric Wilcox, Adam Shrager, Mary I. Frecker, Paris von Lockette, Timothy W. Simpson, Robert J. Lang, Larry L. Howell, Spencer P. Magleby
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061007.
Paper No: JMR-18-1064
https://doi.org/10.1115/1.4041199
Published Online: September 17, 2018
View Article titled, A Model for Multi-Input Mechanical Advantage in Origami-Based Mechanisms
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Topics: Compliant mechanisms, Deflection, Design, Hinges, Magnetic fields, Magnets, Stiffness, Rigid-body mechanisms, Testing, Actuators
Journal Articles

Design and Testing of a Prosthetic Foot With Interchangeable Custom Springs for Evaluating Lower Leg Trajectory Error, an Optimization Metric for Prosthetic Feet

Victor Prost, Kathryn M. Olesnavage, W. Brett Johnson, Matthew J. Major, Amos G. Winter, V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021010.
Paper No: JMR-17-1297
https://doi.org/10.1115/1.4039342
Published Online: March 2, 2018
View Article titled, Design and Testing of a Prosthetic Foot With Interchangeable Custom Springs for Evaluating Lower Leg Trajectory Error, an Optimization Metric for Prosthetic Feet
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Topics: Artificial limbs, Design, Errors, Optimization, Springs, Stiffness, Testing, Trajectories (Physics), Physiology
Journal Articles

Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot

Jinhong Qu, Jongsoo Choi, Kenn R. Oldham
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061006.
Paper No: JMR-17-1106
https://doi.org/10.1115/1.4037802
Published Online: September 18, 2017
View Article titled, Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot
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Topics: Robots, Resonance, Adhesion, Dynamics (Mechanics), Dynamic models, Testing, Vibration, Silicon
Journal Articles

Extended Static Modeling and Analysis of Compliant Compound Parallelogram Mechanisms Considering the Initial Internal Axial Force

Guangbo Hao, Haiyang Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041008.
Paper No: JMR-15-1247
https://doi.org/10.1115/1.4032592
Published Online: March 7, 2016
View Article titled, Extended Static Modeling and Analysis of Compliant Compound Parallelogram Mechanisms Considering the Initial Internal Axial Force
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Topics: Displacement, Modeling, Stiffness, Stress, Temperature, Testing, Symmetry (Physics), Compliant mechanisms, Mirrors
Journal Articles

Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator

Jingjun Yu, Yan Xie, Zhenguo Li, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. November 2015, 7(4): 044503.
Paper No: JMR-14-1185
https://doi.org/10.1115/1.4030467
Published Online: November 1, 2015
View Article titled, Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator
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Topics: Design, Testing, Topology, Displacement, Stress, Yaw, Kinematics
Journal Articles

Design and Performance of a Motor-Driven Mechanism to Conduct Experiments With the Human Index Finger

Pei-Hsin Kuo, Jerod Hayes, Ashish D. Deshpande
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031010.
Paper No: JMR-13-1241
https://doi.org/10.1115/1.4028639
Published Online: August 1, 2015
View Article titled, Design and Performance of a Motor-Driven Mechanism to Conduct Experiments With the Human Index Finger
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Topics: Design, Engines, Motors, Stress, Linkages, Dynamic testing (Engineering), Errors, Viscoelasticity, Testing
Journal Articles

Impact of Marine Locomotion Constraints on a Bio-inspired Aerial-Aquatic Wing: Experimental Performance Verification

Richard J. Lock, Ravi Vaidyanathan, Stuart C. Burgess
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2014, 6(1): 011001.
Paper No: JMR-12-1205
https://doi.org/10.1115/1.4025471
Published Online: October 31, 2013
View Article titled, Impact of Marine Locomotion Constraints on a Bio-inspired Aerial-Aquatic Wing: Experimental Performance Verification
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Topics: Kinematics, Thrust, Wings, Shapes, Vehicles, Computer simulation, Water, Testing
Journal Articles

Underactuated Part Alignment System for Industrial Assembly Applications

Brian J. Slaboch, Philip A. Voglewede
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2013, 5(1): 011006.
Paper No: JMR-11-1125
https://doi.org/10.1115/1.4007709
Published Online: October 19, 2012
View Article titled, Underactuated Part Alignment System for Industrial Assembly Applications
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Topics: Algorithms, Grippers, Hinges, Manufacturing, Rotation, Torque, Robots, End effectors, Testing