Recent Papers
Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
Abstract Remote center-of-motion (RCM) mechanisms provide a way for surgical instruments to pass through a remote center (e.g., skin incision) under geometrical constraints, facilitating safer
Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism
Abstract This article reports the design, modeling, and experiments of a novel retinal surgery robot based on spatial variable remote center-of-motion (RCM) mechanism. The general
Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
Abstract In this paper, we propose a novel passive parallel continuum ankle exoskeleton that can provide assistive torque during ankle plantar flexion. Due to the
Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
Abstract We developed a small jumping mechanism inspired by planthopper. The planthopper jump is characterized by two functions of the hind legs; the leg synchronization
Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers
Abstract This paper presents an approach to passively realize any specified object spatial compliance using the grasp of a robotic hand. The kinematically anthropomorphic hands
The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains
Abstract Understanding legged locomotion in various environments is valuable for many fields, including robotics, biomechanics, rehabilitation, and motor control. Specifically, investigating legged locomotion in compliant
