Latest Papers

ASME Journal of Mechanisms and Robotics

  • A Small-Scale Integrated Jumping-Crawling Robot: Design, Modeling, and Demonstration
    on June 16, 2025 at 12:00 am

    AbstractThe small jumping-crawling robot improves its obstacle-crossing ability by selecting appropriate locomotion methods. However, current research on jumping-crawling robots remains focused on enhancing specific aspects of performance, and several issues still exist, including nonadjustable gaits, poor stability, nonadjustable jumping posture, and poor motion continuity. This article presents a small jumping-crawling robot with decoupled jumping and crawling mechanisms, offline adjustable gaits, autonomous self-righting, autonomous steering, and certain slope-climbing abilities. The crawling mechanism adopts a partially adjustable Klann six-bar linkage, which can generate four stride lengths and three gaits. The jumping mechanism is designed as a six-bar linkage with passive compliance, and an active clutch allows energy storage and release in any state. The autonomous self-righting mechanism enables the robot to self-right after tipping over, meanwhile providing support, steering, and posture adjustment functions. Prototype experiments show that the designed robot demonstrates good motion stability and can climb a 45 deg slope without tipping over. The robot shows excellent steering performance, with a single action taking 5 s and achieving a steering angle of 11.5 deg. It also exhibits good motion continuity, with an average recovery time of 12 s to return to crawling mode after a jump. Crawling experiments on rough terrain demonstrate the feasibility of applying the designed robot in real-world scenarios.

Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

Abstract

Phonation results from the passively induced oscillation of the vocal folds in the larynx, creating sound waves that are then articulated by the mouth and nose. Patients undergoing laryngectomy have their vocal folds removed and thus must rely on alternative sources of achieving the desired vibration of artificial vocal folds. Existing solutions, such as voice prostheses and the Electrolarynx, are limited by producing sufficient voice quality, for instance. In this paper, we present a mathematical analysis of a physical model of an active vocal fold prosthesis. The inverse dynamical equation of the system will help to understand whether specific types of soft actuators can produce the required force to generate natural phonations. Hence, this is referred to as the active actuation model. We present the analysis to replicate the vowels /a/, /e/, /i/, and /u/ and voice qualities of vocal fry, modal, falsetto, breathy, pressed, and whispery. These characteristics would be required as a first step to design an artificial vocal folds system. Inverse dynamics is used to identify the required forces to change the glottis area and frequencies to achieve sufficient oscillation of artificial vocal folds. Two types of ionic polymer-metal composite (IPMC) actuators are used to assess their ability to produce these forces and the corresponding activation voltages required. The results of our proposed analysis will enable research into the effects of natural phonation and, further, provide the foundational work for the creation of advanced larynx prostheses.

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