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Journal Articles

Design of an underactuated, flexure-based gripper, actuated through a push-pull flexure

Accepted Manuscript
Koen Dwarshuis, Jan De Jong, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1252
https://doi.org/10.1115/1.4067265
Published Online: November 26, 2024
View Article titled, Design of an underactuated, flexure-based gripper, actuated through a push-pull flexure
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Topics: Bending (Stress), Design, Grippers, Stress, Buckling, Kinematics, Stiffness, Analytical design, Damage, Dynamics (Mechanics)
Journal Articles

Topology Optimization of Compliant Grippers Based on Stress Constraints

Yunsong Du, Pengwei Zhang, Tiemin Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061001.
Paper No: JMR-24-1251
https://doi.org/10.1115/1.4067021
Published Online: November 22, 2024
View Article titled, Topology Optimization of Compliant Grippers Based on Stress Constraints
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Topics: Design, Grippers, Stress, Topology optimization, Finite element analysis, Displacement, Gradient methods, Algorithms
Journal Articles

Performance Analysis of a Gripper for Microsatellite Berthing

Alexander Titov, Matteo Russo, Marco Ceccarelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091011.
Paper No: JMR-23-1485
https://doi.org/10.1115/1.4064765
Published Online: February 27, 2024
View Article titled, Performance Analysis of a Gripper for Microsatellite Berthing
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Topics: Grasping, Corners (Structural elements), Grippers
Journal Articles

Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot

Charles-Antoine Beaulieu, Tan-Sy Nguyen, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081001.
Paper No: JMR-22-1612
https://doi.org/10.1115/1.4063668
Published Online: December 11, 2023
View Article titled, Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot
Open the PDF for Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot in another window
Topics: Design, Grasping, Grippers, Kinematics, Robots, Degrees of freedom
Journal Articles

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Article titled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper

Qianyi Chen, Dingena Schott, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051004.
Paper No: JMR-22-1578
https://doi.org/10.1115/1.4062647
Published Online: June 26, 2023
View Article titled, Conceptual Design of a Novel Particle-Based Soft Grasping Gripper
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Topics: Actuators, Grippers, Membranes, Particulate matter, Shrinkage (Materials), Design, Grasping, Deflection, Conceptual design, Deformation
Journal Articles

Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots

Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031010.
Paper No: JMR-22-1294
https://doi.org/10.1115/1.4062273
Published Online: April 21, 2023
View Article titled, Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots
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Topics: Calibration, Control equipment, Design, Grippers, Humanoid robots, Pressure, Trajectories (Physics), Stress, Robots, Weight (Mass)
Journal Articles

Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

P. Seguin, C. Preault, P. Vulliez, J. P. Gazeau
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2023, 15(6): 065001.
Paper No: JMR-21-1569
https://doi.org/10.1115/1.4056404
Published Online: January 18, 2023
View Article titled, Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
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Topics: End effectors, Grasping, Grippers, Robotics, Rotation, Trajectories (Physics), Robots, Design, Errors
Journal Articles

Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips

Ho Sang Jung, Ji Yeop Kim, Sang Yul Yang, Kihyeon Kim, Jae Hyeong Park, Young Jin Gong, Seung Jae Moon, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051015.
Paper No: JMR-22-1075
https://doi.org/10.1115/1.4055933
Published Online: December 9, 2022
View Article titled, Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips
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Topics: Grippers, Shapes, Actuators, Control equipment
Includes: Supplementary data
Journal Articles

A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

Omer Faruk Argin, Ozan Kaya, Zeki Yagiz Bayraktaroglu, Seniz Ertugrul
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041011.
Paper No: JMR-21-1553
https://doi.org/10.1115/1.4055570
Published Online: November 14, 2022
View Article titled, A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper
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Topics: Actuators, Grippers, Haptics, Manipulators
Journal Articles

Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot

Zhongmou Li, Vincent Bégoc, Abdelhamid Chriette, Isabelle Fantoni
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021003.
Paper No: JMR-21-1441
https://doi.org/10.1115/1.4054610
Published Online: June 20, 2022
View Article titled, Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot
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Topics: Control equipment, Grasping, Grippers, Robots, Unmanned aerial vehicles, Yaw, Torque, Thrust
Journal Articles

Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation

Patrick McGowan, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2023, 15(1): 015002.
Paper No: JMR-21-1763
https://doi.org/10.1115/1.4054551
Published Online: June 6, 2022
View Article titled, Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation
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Topics: Compliant mechanisms, Design, Displacement, Grippers, Optimization, Simulation
Journal Articles

Eccentric High-Force Soft Pneumatic Bending Actuator for Finger-Type Soft Grippers

Peilin Cheng, Yuze Ye, Bo Yan, Yebo Lu, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060908.
Paper No: JMR-21-1730
https://doi.org/10.1115/1.4054510
Published Online: May 26, 2022
View Article titled, Eccentric High-Force Soft Pneumatic Bending Actuator for Finger-Type Soft Grippers
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Topics: Actuators, Grippers, Manufacturing, Pressure, Stress, Silicones, Design, Springs, Cylinders, Fibers
Journal Articles

Design, Analysis, and Experiment of a Scissor-Shaped Deployable Metamorphic Hand

Hanlin Sun, Wei Sun, Bin Chen, Yu Hou, Jianyi Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 060909.
Paper No: JMR-21-1734
https://doi.org/10.1115/1.4054576
Published Online: May 26, 2022
View Article titled, Design, Analysis, and Experiment of a Scissor-Shaped Deployable Metamorphic Hand
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Topics: Design, Grasping, Kinematics, Grippers
Journal Articles

A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming

Xianpai Zeng, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014501.
Paper No: JMR-21-1478
https://doi.org/10.1115/1.4053857
Published Online: April 25, 2022
View Article titled, A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming
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Topics: Design, Grippers, Pressure, Stiffness, Vacuum, Shapes
Journal Articles

Development of Topology Optimized Bending-Twisting Soft Finger

Zhili Chen, Hamed Rahimi Nohooji, Chee-Meng Chew
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051003.
Paper No: JMR-21-1284
https://doi.org/10.1115/1.4053159
Published Online: February 18, 2022
View Article titled, Development of Topology Optimized Bending-Twisting Soft Finger
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Topics: Design, Grippers, Optimization, Topology, Pressure, Manufacturing, Grasping, Robotics, Rotation
Includes: Supplementary data
Journal Articles

A Computational Design Synthesis Method for the Generation of Rigid Origami Crease Patterns

Luca Zimmermann, Kristina Shea, Tino Stanković
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031014.
Paper No: JMR-21-1134
https://doi.org/10.1115/1.4052847
Published Online: December 9, 2021
View Article titled, A Computational Design Synthesis Method for the Generation of Rigid Origami Crease Patterns
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Topics: Design, Grippers, Kinematics, Optimization, Robotics
Includes: Supplementary data
Journal Articles

Modeling of Soft Robotic Grippers Integrated With Fluidic Prestressed Composite Actuators

Yitong Zhou, Leon M. Headings, Marcelo J. Dapino
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031001.
Paper No: JMR-21-1109
https://doi.org/10.1115/1.4052699
Published Online: November 15, 2021
View Article titled, Modeling of Soft Robotic Grippers Integrated With Fluidic Prestressed Composite Actuators
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Topics: Actuators, Composite materials, Grasping, Grippers, Shapes, Pressure
Journal Articles

Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization

I-Ting Chi, Teeranoot Chanthasopeephan, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021008.
Paper No: JMR-21-1153
https://doi.org/10.1115/1.4052335
Published Online: September 21, 2021
View Article titled, Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization
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Topics: Design, Displacement, End effectors, Grippers, Optimization, Topology, Compliant mechanisms, Finite element analysis
Journal Articles

The Series Elastic Gripper Design, Object Detection, and Recognition by Touch

Ozan Kaya, Gökçe Burak Tağlıoğlu, Şeniz Ertuğrul
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2022, 14(1): 014501.
Paper No: JMR-20-1373
https://doi.org/10.1115/1.4051520
Published Online: July 6, 2021
View Article titled, The Series Elastic Gripper Design, Object Detection, and Recognition by Touch
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Topics: Design, Grippers, Object recognition