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Journal Articles

Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control

Wenda Xu, Yunfei Guo, Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081016.
Paper No: JMR-23-1460
https://doi.org/10.1115/1.4064283
Published Online: January 12, 2024
View Article titled, Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control
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Topics: Actuators, Design, Exoskeleton devices, Reinforcement learning, Simulation, Grasping
Proceedings Papers

Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism

Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A047, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89625
https://doi.org/10.1115/DETC2022-89625
View Paper titled, Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism
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Topics: Degrees of freedom, Design, Exoskeleton devices, Engineering prototypes, Grasping, Mechanical admittance, Optimization, Robotics, Sensitivity analysis, Wounds
Proceedings Papers

Design and Implementation of a Power-Dense, Modular, and Compact Serpentine Articulated Tail

Isaac Pressgrove, Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A053, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90500
https://doi.org/10.1115/DETC2022-90500
View Paper titled, Design and Implementation of a Power-Dense, Modular, and Compact Serpentine Articulated Tail
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Topics: Design, Robotics
Proceedings Papers

Feedback Control of the Locomotion of a Tailed Quadruped Robot

Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A009, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71611
https://doi.org/10.1115/DETC2021-71611
View Paper titled, Feedback Control of the Locomotion of a Tailed Quadruped Robot
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Topics: Feedback, Robots, Control equipment, Degrees of freedom, Pendulums, Propulsion, Robotics
Journal Articles

Robots with Tails

Pinhas Ben-Tzvi, Yujiong Liu
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Research-Article
Mechanical Engineering. November 2021, 143(6): 32–37.
Paper No: ME-2021-NOV2
https://doi.org/10.1115/1.2021-NOV2
Published Online: November 9, 2021
View Article titled, Robots with Tails
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Topics: Robotics, Robots
Journal Articles

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031014.
Paper No: JMR-20-1434
https://doi.org/10.1115/1.4050097
Published Online: March 15, 2021
View Article titled, A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission
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Topics: Design, Kinematics, Manipulators, Parallel mechanisms, Robots, Mechanical admittance, Engineering prototypes, Kinematic analysis
Proceedings Papers

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A065, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22173
https://doi.org/10.1115/DETC2020-22173
View Paper titled, A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission
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Topics: Manipulators, Parallel mechanisms, Mechanical admittance, Robots, Chain, Degrees of freedom, Engineering prototypes, Inspection, Kinematic analysis, Muscle
Journal Articles

An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion

Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041003.
Paper No: JMR-19-1178
https://doi.org/10.1115/1.4045689
Published Online: March 6, 2020
View Article titled, An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
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Topics: Closed kinematic chains, Design, Dynamic models, Dynamics (Mechanics), Flight, Kinematics, Optimization, Robotics, Robots, Simulation
Journal Articles

Design, Analysis, and Integration of a New Two-Degree-of-Freedom Articulated Multi-Link Robotic Tail Mechanism

Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021101.
Paper No: JMR-19-1426
https://doi.org/10.1115/1.4045842
Published Online: January 10, 2020
View Article titled, Design, Analysis, and Integration of a New Two-Degree-of-Freedom Articulated Multi-Link Robotic Tail Mechanism
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Topics: Design, Kinematics, Robotics, Mechanical admittance
Proceedings Papers

A New Approach to Model Constant Curvature Continuum Robot Dynamics

Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8999
https://doi.org/10.1115/DSCC2019-8999
View Paper titled, A New Approach to Model Constant Curvature Continuum Robot Dynamics
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Topics: Computer simulation, Dynamic models, Dynamics (Mechanics), Equations of motion, Kinematics, Mechanical admittance, Real-time control, Robot dynamics, Robots, Virtual work principle
Proceedings Papers

Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-Link Robotic Tail

Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A008, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97537
https://doi.org/10.1115/DETC2019-97537
View Paper titled, Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-Link Robotic Tail
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Topics: Design, Optimization, Robotics, Cables, Rigid-body mechanisms, Frequency response, Hardware, Kinematics, Manipulators, Modeling
Journal Articles

A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism

Yujiong Liu, Jiamin Wang, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051005.
Paper No: JMR-18-1439
https://doi.org/10.1115/1.4044067
Published Online: July 9, 2019
View Article titled, A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism
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Topics: Cables, Robotics, Shapes, Universal joints, Design, Yaw, Rotation, Kinematics
Proceedings Papers

Dynamic Modeling of a Quadruped With a Robotic Tail Using Virtual Work Principle

Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A021, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86048
https://doi.org/10.1115/DETC2018-86048
View Paper titled, Dynamic Modeling of a Quadruped With a Robotic Tail Using Virtual Work Principle
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Topics: Dynamic modeling, Robotics, Virtual work principle, Dynamics (Mechanics), Computer simulation, Dynamic models, Modeling, Pendulums
Journal Articles

A Geometric Approach to Obtain the Closed-Form Forward Kinematics of H4 Parallel Robot

Yujiong Liu, Minxiu Kong, Neng Wan, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051013.
Paper No: JMR-18-1071
https://doi.org/10.1115/1.4040703
Published Online: July 18, 2018
View Article titled, A Geometric Approach to Obtain the Closed-Form Forward Kinematics of H4 Parallel Robot
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Topics: Kinematics, Robots