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Journal Articles

Dual Quaternions Representation of Lagrange's dynamic equations

Accepted Manuscript
Avraham Cohen, Benjamin Taub, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1244
DOI: https://doi.org/10.1115/1.4062463
Published Online: May 3, 2023
View Article titled, Dual Quaternions Representation of Lagrange's dynamic equations
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Topics: Equations of motion, Accounting, Damping, Design, Energy dissipation, Exoskeleton devices, Manipulators, Multibody dynamics, Springs, Viscosity
Journal Articles

Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

Bing Chen, Chenpu Shi, Chengwang Zheng, Bin Zi, Ping Zhao, Yuan Li
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051007.
Paper No: JMR-22-1333
DOI: https://doi.org/10.1115/1.4055936
Published Online: November 24, 2022
View Article titled, Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint
Click here to open pdf in another window PDF for Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint
Topics: Exoskeleton devices, Knee, Cycles, Recycling
Journal Articles

Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting

Zhuo Ma, Jianbin Liu, Guoyu Ma, Jingshuo Gao, Baojun Chen, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051008.
Paper No: JMR-22-1077
DOI: https://doi.org/10.1115/1.4055964
Published Online: November 24, 2022
View Article titled, Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting
Click here to open pdf in another window PDF for Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting
Topics: Exoskeleton devices, Fatigue, Stiffness, Torque, Pressure, Muscle, Energy consumption, Knee
Journal Articles

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

Inseung Kang, Reese R. Peterson, Kinsey R. Herrin, Anirban Mazumdar, Aaron J. Young
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021007.
Paper No: JMR-22-1025
DOI: https://doi.org/10.1115/1.4054724
Published Online: June 21, 2022
View Article titled, Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
Click here to open pdf in another window PDF for Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
Topics: Actuators, Design, Exoskeleton devices, Seas, Torque, Control equipment, Feedforward control, Motors
Includes: Supplementary data
Journal Articles

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

Tun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
DOI: https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
View Article titled, Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
Click here to open pdf in another window PDF for Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots
Journal Articles

Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation

Liu Biao, Liu Youwei, Xian Xiaoming, Wu Haoyi, Xie Longhan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011005.
Paper No: JMR-21-1407
DOI: https://doi.org/10.1115/1.4054248
Published Online: April 25, 2022
View Article titled, Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation
Click here to open pdf in another window PDF for Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation
Topics: Cables, Exoskeleton devices, Torque, Muscle, Robots, Knee
Journal Articles

Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept

Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041004.
Paper No: JMR-21-1536
DOI: https://doi.org/10.1115/1.4053926
Published Online: March 7, 2022
View Article titled, Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept
Click here to open pdf in another window PDF for Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept
Topics: Design, Drag (Fluid dynamics), Dynamics (Mechanics), Exoskeleton devices, Yaw, Simulation, Equations of motion, Shapes, Kinematics, Buoyancy
Journal Articles

Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation

Xiangyang Wang, Sheng Guo, Bojian Qu, Majun Song, Peiyi Wang, Du-Xin Liu
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2022, 14(5): 054504.
Paper No: JMR-21-1430
DOI: https://doi.org/10.1115/1.4053735
Published Online: February 21, 2022
View Article titled, Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation
Click here to open pdf in another window PDF for Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation
Topics: Cycles, Design, Exoskeleton devices, Cables
Journal Articles

Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method

Yuhan Ji, Weihai Chen, Jianbin Zhang, Zhongyi Li, Zaojun Fang, Guilin Yang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021013.
Paper No: JMR-21-1009
DOI: https://doi.org/10.1115/1.4052380
Published Online: October 13, 2021
View Article titled, Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method
Click here to open pdf in another window PDF for Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method
Topics: Cables, Errors, Exoskeleton devices, Kinematics, Uncertainty
Journal Articles

A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment

Mohammad I. Awad, Irfan Hussain, Shramana Ghosh, Yahya Zweiri, Dongming Gan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011016.
Paper No: JMR-20-1075
DOI: https://doi.org/10.1115/1.4048428
Published Online: November 13, 2020
View Article titled, A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment
Click here to open pdf in another window PDF for A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment
Topics: Design, Exoskeleton devices, Kinematics, Optimization, Parallel mechanisms
Journal Articles

Stable Grasp Control With a Robotic Exoskeleton Glove

Teja Vanteddu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061015.
Paper No: JMR-19-1472
DOI: https://doi.org/10.1115/1.4047724
Published Online: July 28, 2020
View Article titled, Stable Grasp Control With a Robotic Exoskeleton Glove
Click here to open pdf in another window PDF for Stable Grasp Control With a Robotic Exoskeleton Glove
Topics: Algorithms, Deformation, Exoskeleton devices, Optimization, Linkages, Actuators, Grasping, Engineering prototypes, Seas
Journal Articles

A Lower Limb Exoskeleton Recycling Energy From Knee and Ankle Joints to Assist Push-Off

Yihua Chang, Weixin Wang, Chenglong Fu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051011.
Paper No: JMR-19-1300
DOI: https://doi.org/10.1115/1.4046835
Published Online: May 11, 2020
View Article titled, A Lower Limb Exoskeleton Recycling Energy From Knee and Ankle Joints to Assist Push-Off
Click here to open pdf in another window PDF for A Lower Limb Exoskeleton Recycling Energy From Knee and Ankle Joints to Assist Push-Off
Topics: Exoskeleton devices, Knee, Springs, Recycling, Design, Cycles, Ropes
Journal Articles

Design, Control, and Pilot Study of a Lightweight and Modular Robotic Exoskeleton for Walking Assistance After Spinal Cord Injury

Josep M. Font-Llagunes, Urbano Lugrís, Daniel Clos, F. Javier Alonso, Javier Cuadrado
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031008.
Paper No: JMR-19-1118
DOI: https://doi.org/10.1115/1.4045510
Published Online: January 13, 2020
View Article titled, Design, Control, and Pilot Study of a Lightweight and Modular Robotic Exoskeleton for Walking Assistance After Spinal Cord Injury
Click here to open pdf in another window PDF for Design, Control, and Pilot Study of a Lightweight and Modular Robotic Exoskeleton for Walking Assistance After Spinal Cord Injury
Topics: Design, Exoskeleton devices, Knee, Motors, Orthotics, Robotics, Spinal cord, Wounds, Cycles
Journal Articles

A Portable Elbow Exoskeleton for Three Stages of Rehabilitation

Soumya K. Manna, Venketesh N. Dubey
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2019, 11(6): 065002.
Paper No: JMR-18-1257
DOI: https://doi.org/10.1115/1.4044535
Published Online: October 8, 2019
View Article titled, A Portable Elbow Exoskeleton for Three Stages of Rehabilitation
Click here to open pdf in another window PDF for A Portable Elbow Exoskeleton for Three Stages of Rehabilitation
Topics: Exoskeleton devices, Motors, Springs, Stiffness, Torque, Design, Electric motors, Engines
Journal Articles

The Effects of the Connection Stiffness of Robotic Exoskeletons on the Gait Quality and Comfort

Morteza Shafiei, Saeed Behzadipour
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011007.
Paper No: JMR-19-1109
DOI: https://doi.org/10.1115/1.4044841
Published Online: October 8, 2019
View Article titled, The Effects of the Connection Stiffness of Robotic Exoskeletons on the Gait Quality and Comfort
Click here to open pdf in another window PDF for The Effects of the Connection Stiffness of Robotic Exoskeletons on the Gait Quality and Comfort
Topics: Exoskeleton devices, Stiffness, Knee
Journal Articles

A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation

Eric M. Refour, Bijo Sebastian, Raghuraj J. Chauhan, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060902.
Paper No: JMR-19-1086
DOI: https://doi.org/10.1115/1.4044543
Published Online: September 10, 2019
View Article titled, A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation
Click here to open pdf in another window PDF for A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation
Topics: Actuators, Design, Exoskeleton devices, Grasping, Kinematics, Linkages, Seas, Engineering prototypes, Force control
Journal Articles

Lower-Limb Prostheses and Exoskeletons With Energy Regeneration: Mechatronic Design and Optimization Review

Brock Laschowski, John McPhee, Jan Andrysek
Journal: Journal of Mechanisms and Robotics
Article Type: Review Articles
J. Mechanisms Robotics. August 2019, 11(4): 040801.
Paper No: JMR-18-1162
DOI: https://doi.org/10.1115/1.4043460
Published Online: May 17, 2019
View Article titled, Lower-Limb Prostheses and Exoskeletons With Energy Regeneration: Mechatronic Design and Optimization Review
Click here to open pdf in another window PDF for Lower-Limb Prostheses and Exoskeletons With Energy Regeneration: Mechatronic Design and Optimization Review
Topics: Biomechanics, Design, Exoskeleton devices, Machinery, Optimization, Prostheses, Regenerative braking, Energy storage
Journal Articles

An Ankle Exoskeleton Using a Lightweight Motor to Create High Power Assistance for Push-Off

Jiazhen Liu, Caihua Xiong, Chenglong Fu
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041001.
Paper No: JMR-17-1349
DOI: https://doi.org/10.1115/1.4043456
Published Online: May 17, 2019
View Article titled, An Ankle Exoskeleton Using a Lightweight Motor to Create High Power Assistance for Push-Off
Click here to open pdf in another window PDF for An Ankle Exoskeleton Using a Lightweight Motor to Create High Power Assistance for Push-Off
Topics: Exoskeleton devices, Motors, Design, Engines, Springs
Journal Articles

Special Section: Selected Papers From IDETC 2018

Clément Gosselin, Pierre M. Larochelle, Andreas Müller
Journal: Journal of Mechanisms and Robotics
Article Type: Guest Editorial
J. Mechanisms Robotics. April 2019, 11(2): 020301.
Paper No: JMR-19-1060
DOI: https://doi.org/10.1115/1.4042958
Published Online: March 13, 2019
View Article titled, Special Section: Selected Papers From IDETC 2018
Click here to open pdf in another window PDF for Special Section: Selected Papers From IDETC 2018
Topics: Biomedicine, Computer software, Design, Dynamics (Mechanics), Engineering teachers, Exoskeleton devices, Kinematics, Robotics, Robots, Vehicles
Journal Articles

A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints

Justin Hunt, Hyunglae Lee
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051017.
Paper No: JMR-18-1018
DOI: https://doi.org/10.1115/1.4040701
Published Online: August 6, 2018
View Article titled, A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints
Click here to open pdf in another window PDF for A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints
Topics: Design, Exoskeleton devices, Kinematics, Scanning probe microscopy, Manipulators, Linkages