Latest Papers

ASME Journal of Mechanisms and Robotics

  • Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
    by Audet JM, Gosselin C. on July 21, 2021 at 12:00 am

    AbstractIn this paper, the concept of underactuated redundancy is presented using a novel spatial two-degrees-of-freedom (2-DoF) gravity-balanced rotational manipulator, composed of movable counterweights. The proposed kinematic arrangement makes it possible to intuitively manipulate a payload undergoing 3-DoF spatial rotations by adding a third rotational axis oriented in the direction of gravity. The static equilibrium equations of the 2-DoF architecture are first described in order to provide the required configuration of the counterweights for a statically balanced mechanism. A method for calibrating the mechanism, which establishes the coefficients of the static equilibrium equations, is also presented. In order to both translate and rotate the payload during manipulation, the rotational manipulator is mounted on an existing translational manipulator. Experimental validations of both systems are presented to demonstrate the intuitive and responsive behavior of the manipulators during physical human–robot interactions.

  • Special Section: Mobile Robots and Unmanned Ground Vehicles
    by Reina G, Das TK, Quaglia G, et al. on July 21, 2021 at 12:00 am

    Inspired by the fifth-year anniversary celebration of the homonymous symposium at the International Mechanical Engineering Congress & Exposition (IMECE), this Special Section with ten articles shares the latest research efforts in design, theory, development, and applications for mobile robots and unmanned ground vehicles.

Design of a Single-Degree-of-Freedom Immersive Rehabilitation Device for Clustered Upper-Limb Motion


Mechanical devices such as robots are widely adopted for limb rehabilitation. Due to the variety of human body parameters, the rehabilitation motion for different patients usually has its individual pattern; hence, we adopt clustering-based machine learning technique to find a limited number of motion patterns for upper-limb rehabilitation, so that they could represent the large amount of those from people who have various body parameters. By using the regression motion of the clustering result as the target, in this article, we seek to apply kinematic mapping-based motion synthesis framework to design a 1-degree-of-freedom (DOF) mechanism, such that it could lead the patients’ upper limb through the target motion. Also, considering rehab training generally involves a large amount of repetition on a daily basis, this article has developed a rehab system with unity3d based on virtual reality (VR). The proposed device and system could provide an immersive experience to the users, as well as the rehab motion data to the administrative staff for evaluation of users’ status. The construction of the integrated system and the experimental trial of the prototype are presented at the end of this article.
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