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Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
View Article titled, Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
Open the PDF for Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities in another window
Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
Journal Articles

Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction

Gabriel Boucher, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021002.
Paper No: JMR-20-1132
https://doi.org/10.1115/1.4049191
Published Online: January 18, 2021
View Article titled, Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction
Open the PDF for Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction in another window
Topics: Design, Design engineering, Displacement, Engineering prototypes, Kinematics, Robots, Sensors, Shells, Human-robot interaction, Springs
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
View Article titled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
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Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

Design and Modeling of a Continuously Tunable Stiffness Arm for Safe Physical Human–Robot Interaction

Yu She, Hai-Jun Su, Deshan Meng, Cheng Lai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011006.
Paper No: JMR-18-1360
https://doi.org/10.1115/1.4044840
Published Online: October 8, 2019
View Article titled, Design and Modeling of a Continuously Tunable Stiffness Arm for Safe Physical Human–Robot Interaction
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Topics: Design, Stiffness, Human-robot interaction, Modeling
Journal Articles

Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human–Robot Interaction

Sri Sadhan Jujjavarapu, Amirhossein H. Memar, M. Amin Karami, Ehsan T. Esfahani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020915.
Paper No: JMR-18-1384
https://doi.org/10.1115/1.4042295
Published Online: February 27, 2019
View Article titled, Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human–Robot Interaction
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Topics: Magnets, Stiffness, Control equipment, Human-robot interaction, Mechanical admittance
Journal Articles

Design of a Variable Stiffness Actuator Based on Flexures

Gianluca Palli, Giovanni Berselli, Claudio Melchiorri, Gabriele Vassura
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2011, 3(3): 034501.
https://doi.org/10.1115/1.4004228
Published Online: July 19, 2011
View Article titled, Design of a Variable Stiffness Actuator Based on Flexures
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Topics: Actuators, Design, Stiffness, Engineering prototypes, Deflection, Human-robot interaction, Hinges, Torque, Optimization
Journal Articles

On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems

Nima Najmaei, Mehrdad R. Kermani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041008.
https://doi.org/10.1115/1.4002345
Published Online: September 30, 2010
View Article titled, On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems
Open the PDF for On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems in another window
Topics: Manipulators, Modeling, Path planning, Risk assessment, Robots, Safety, Shapes, Collisions (Physics), Human-robot interaction, Robotics