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Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
View Article titled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting

Asif Arefeen, Yujiang Xiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081010.
Paper No: JMR-23-1209
https://doi.org/10.1115/1.4064234
Published Online: December 22, 2023
View Article titled, A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting
Open the PDF for A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting in another window
Topics: Biomechanics, Exoskeleton devices, Knee, Torque, Torque control, Optimization
Journal Articles

Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint

Kunyang Wang, Harry Williams, Zhihui Qian, Guowu Wei, Haohua Xiu, Wei Chen, Xuewei Lu, Jianqiao Jin, Lei Ren, Wei Liang, Luquan Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041008.
Paper No: JMR-22-1158
https://doi.org/10.1115/1.4062498
Published Online: June 9, 2023
View Article titled, Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint
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Topics: Artificial limbs, Design, Knee, Springs, Prostheses, Anterior cruciate ligament, Relaxation (Physics)
Includes: Supplementary data
Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Article titled, Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
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Topics: Dynamics (Mechanics), Knee, Limit cycles, Robots, Springs, Stability, Stiffness, Equations of motion, Eigenvalues, Elasticity
Journal Articles

A Novel Transformable Leg-Wheel Mechanism

Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, Guangming Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031008.
Paper No: JMR-22-1164
https://doi.org/10.1115/1.4057069
Published Online: March 28, 2023
View Article titled, A Novel Transformable Leg-Wheel Mechanism
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Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051007.
Paper No: JMR-22-1333
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
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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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051008.
Paper No: JMR-22-1077
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
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Topics: Exoskeleton devices, Fatigue, Stiffness, Torque, Pressure, Muscle, Energy consumption, Knee
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 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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011005.
Paper No: JMR-21-1407
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
Open the PDF for Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation in another window
Topics: Cables, Exoskeleton devices, Torque, Muscle, Robots, Knee
Journal Articles

UPed: A Quadruped Robot Platform to Study Directional Leg Compliance

Jason Gurney, Ali Samare Filsoofi, Eric McClain, Chris Bolejack, Mahtab Aboufazeli, V. John Mathews, Sanford Meek
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2023, 15(1): 015001.
Paper No: JMR-21-1372
https://doi.org/10.1115/1.4053995
Published Online: April 25, 2022
View Article titled, UPed: A Quadruped Robot Platform to Study Directional Leg Compliance
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Topics: Design, Knee, Robots, Stiffness, Pistons, Pressure
Journal Articles

Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees

V. N. Murthy Arelekatti, Nina T. Petelina, W. Brett Johnson, Matthew J. Major, Amos G. Winter V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031011.
Paper No: JMR-21-1003
https://doi.org/10.1115/1.4052804
Published Online: November 18, 2021
View Article titled, Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees
Open the PDF for Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees in another window
Topics: Artificial limbs, Dampers, Damping, Design, Knee, Stability
Journal Articles

Application of Floquet Theory to Human Gait Kinematics and Dynamics

Sandesh G. Bhat, Susheelkumar C. Subramanian, Thomas S. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061003.
Paper No: JMR-20-1471
https://doi.org/10.1115/1.4050199
Published Online: May 31, 2021
View Article titled, Application of Floquet Theory to Human Gait Kinematics and Dynamics
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Topics: Dynamic systems, Dynamics (Mechanics), Kinematics, Time series, Manifolds, Knee, Stability
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051011.
Paper No: JMR-19-1300
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
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Topics: Exoskeleton devices, Knee, Springs, Recycling, Design, Cycles, Ropes
Journal Articles

An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion

Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041003.
Paper No: JMR-19-1178
https://doi.org/10.1115/1.4045689
Published Online: March 6, 2020
View Article titled, An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
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Topics: Closed kinematic chains, Design, Dynamic models, Dynamics (Mechanics), Flight, Kinematics, Optimization, Robotics, Robots, Simulation
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031008.
Paper No: JMR-19-1118
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
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Topics: Design, Exoskeleton devices, Knee, Motors, Orthotics, Robotics, Spinal cord, Wounds, Cycles
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011007.
Paper No: JMR-19-1109
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
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Topics: Exoskeleton devices, Stiffness, Knee
Journal Articles

Design and Preliminary Field Validation of a Fully Passive Prosthetic Knee Mechanism for Users With Transfemoral Amputation in India

V. N. Murthy Arelekatti, Amos G. Winter, V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031007.
Paper No: JMR-15-1274
https://doi.org/10.1115/1.4039222
Published Online: April 5, 2018
View Article titled, Design and Preliminary Field Validation of a Fully Passive Prosthetic Knee Mechanism for Users With Transfemoral Amputation in India
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Topics: Artificial limbs, Design, Kinematics, Knee, Prostheses, Engineering prototypes, Biomechanics, Developing nations, Stability
Journal Articles

Design and Kinematic Analysis of a Novel 3U P S/R P U Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks

Pedro Araujo-Gómez, Vicente Mata, Miguel Díaz-Rodríguez, Angel Valera, Alvaro Page
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061004.
Paper No: JMR-17-1031
https://doi.org/10.1115/1.4037800
Published Online: September 18, 2017
View Article titled, Design and Kinematic Analysis of a Novel 3U P S/R P U Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks
Open the PDF for Design and Kinematic Analysis of a Novel 3U P S/R P U Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks in another window
Topics: Design, Displacement, Kinematics, Knee, Robots, Screws, Mechanical admittance, Jacobian matrices, End effectors, Conceptual design
Journal Articles

Design and Implementation of a Leg–Wheel Robot: Transleg

Zhong Wei, Guangming Song, Guifang Qiao, Ying Zhang, Huiyu Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051001.
Paper No: JMR-16-1327
https://doi.org/10.1115/1.4037018
Published Online: June 22, 2017
View Article titled, Design and Implementation of a Leg–Wheel Robot: Transleg
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Topics: Actuators, Design, Knee, Robots, Wheels, Wire, Yaw, Rotation