Latest Papers

ASME Journal of Mechanisms and Robotics

  • Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
    on August 31, 2023 at 12:00 am

    AbstractHumans are intrinsically unstable in quiet stance from a rigid body system viewpoint; however, they maintain balance, thanks to neuro-muscular sensory control properties. With increasing levels of balance related incidents in industrial and ageing populations globally each year, the development of assistive mechanisms to augment human balance is paramount. This work investigates the mechanical characteristics of kinematically dissimilar one and two degrees-of-freedom (DoF) supernumerary robotic tails for balance augmentation. Through dynamic simulations and manipulability assessments, the importance of variable coupling inertia in creating a sufficient reaction torque is highlighted. It is shown that two-DoF tails with solely revolute joints are best suited to address the balance augmentation issue. Within the two-DoF options, the characteristics of open versus closed loop tails are investigated, with the ultimate design selection requiring trade-offs between environmental workspace, biomechanical factors, and manufacturing ease to be made.

Journal Initiatives 2021

Although the community has faced an unprecedented year, I am pleased to report that JMR is thriving and remains on a growth trajectory. While the lives of many were seriously impacted by the pandemic, our community has been resilient. Last year, in 2020, JMR had a record number of submissions (over 600) and is on track to meet this mark again this year. Thanks to the hard work of our Editorial Board, reviewers, and ASME staff, paper review and publication have also remained on track. As we approach the mid-point of this challenging year, in addition to expressing thanks for everyone’s hard work, I would like to take this opportunity to share a few recent initiatives aimed at making JMR one of the top journals in mechanisms and robotics (MR).
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