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Journal Articles

Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand

Alon Laron, Eran Sne, Yaron Perets, Avishai Sintov
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013301.
Paper No: MD-23-1869
https://doi.org/10.1115/1.4065889
Published Online: July 19, 2024
View Article titled, Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand
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Topics: Additive manufacturing, Design, Grasping, Manufacturing, Stress, Tendons, Robotics, End effectors, Actuators
Journal Articles

Flexure Hinge Design and Optimization for Compact Anthropomorphic Grippers Made via Metal Additive Manufacturing

Martin Tschiersky, Jan J. de Jong, Dannis M. Brouwer
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. January 2024, 146(1): 015001.
Paper No: MD-23-1347
https://doi.org/10.1115/1.4063362
Published Online: October 6, 2023
View Article titled, Flexure Hinge Design and Optimization for Compact Anthropomorphic Grippers Made via Metal Additive Manufacturing
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Topics: Bending (Stress), Design, Grippers, Hinges, Optimization, Stress, Simulation, Tendons, Additive manufacturing, Stiffness
Journal Articles

Force Evaluation of Tendon Routing for Underactuated Grasping

Angus B. Clark, Lois Liow, Nicolas Rojas
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. October 2021, 143(10): 104502.
Paper No: MD-20-1822
https://doi.org/10.1115/1.4050382
Published Online: April 9, 2021
View Article titled, Force Evaluation of Tendon Routing for Underactuated Grasping
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Topics: Grasping, Tendons, Design, Pulleys
Journal Articles

Workspace Analysis of Tendon-Driven Continuum Robots Based on Mechanical Interference Identification

Kun Cao, Rongjie Kang, David T. Branson, III, Shineng Geng, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. June 2017, 139(6): 062303.
Paper No: MD-16-1687
https://doi.org/10.1115/1.4036395
Published Online: April 25, 2017
View Article titled, Workspace Analysis of Tendon-Driven Continuum Robots Based on Mechanical Interference Identification
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Topics: Kinematics, Robots, Tendons, Approximation
Journal Articles

Computational Optimization and Experimental Evaluation of Grasp Quality for Tendon-Driven Hands Subject to Design Constraints

Joshua M. Inouye, Francisco J. Valero-Cuevas
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. February 2014, 136(2): 021009.
Paper No: MD-13-1296
https://doi.org/10.1115/1.4025964
Published Online: December 11, 2013
View Article titled, Computational Optimization and Experimental Evaluation of Grasp Quality for Tendon-Driven Hands Subject to Design Constraints
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Topics: Design, Optimization, Tendons, Pulleys
Journal Articles

On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper

Mathieu Baril, Thierry Laliberté, Clément Gosselin, François Routhier
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. December 2013, 135(12): 121008.
Paper No: MD-12-1520
https://doi.org/10.1115/1.4025493
Published Online: October 4, 2013
View Article titled, On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper
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Topics: Artificial limbs, Design, Grasping, Grippers, Levers, Tendons, Friction
Journal Articles

Geometric Design of Three-Phalanx Underactuated Fingers

Lionel Birglen, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 356–364.
https://doi.org/10.1115/1.2159029
Published Online: April 13, 2005
View Article titled, Geometric Design of Three-Phalanx Underactuated Fingers
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Topics: Actuators, Design, Equilibrium (Physics), Linkages, Stability, Tendons, Trajectories (Physics), Pulleys
Journal Articles

NTU Hand: A New Design of Dexterous Hands

Li-Ren Lin, Han-Pang Huang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1998, 120(2): 282–292.
https://doi.org/10.1115/1.2826970
Published Online: June 1, 1998
View Article titled, NTU Hand: A New Design of Dexterous Hands
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Topics: Design, Robots, Actuators, Artificial limbs, Computer simulation, Degrees of freedom, Dimensions, End effectors, Kinematics, Mechanical structures
Journal Articles

Isotropic Design of Tendon-Driven Manipulators

Yeong-Jeong Ou, Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1996, 118(3): 360–366.
https://doi.org/10.1115/1.2826893
Published Online: September 1, 1996
View Article titled, Isotropic Design of Tendon-Driven Manipulators
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Topics: Design, Manipulators, Tendons, Construction, Degrees of freedom, Mechanical drives
Journal Articles

Design of Tendon-Driven Manipulators

Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1995, 117(B): 80–86.
https://doi.org/10.1115/1.2836474
Published Online: June 1, 1995
View Article titled, Design of Tendon-Driven Manipulators
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Topics: Design, Manipulators, Tendons, Compression, Dynamics (Mechanics), Kinematics, Statics, Tension
Journal Articles

Selective Backdriveability and Its Application to a Robotic Finger Design

M. Driels, Lt. Yavuz Turkegenci
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1994, 116(1): 44–46.
https://doi.org/10.1115/1.2919374
Published Online: March 1, 1994
View Article titled, Selective Backdriveability and Its Application to a Robotic Finger Design
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Topics: Design, Robotics, Electric motors, End effectors, Engineering prototypes, Finger joints (Carpentry), Gears, Stiffness, Tendons
Journal Articles

Torque Resolver Design for Tendon-Driven Manipulators

Jyh-Jone Lee, Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1993, 115(4): 877–883.
https://doi.org/10.1115/1.2919282
Published Online: December 1, 1993
View Article titled, Torque Resolver Design for Tendon-Driven Manipulators
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Topics: Design, Manipulators, Tendons, Torque, Analog circuits, Circuits, Computers, Engines, Motors, Simulation
Journal Articles

Kinematic Synthesis of Tendon-Driven Manipulators with Isotropic Transmission Characteristics

Yeong-Jeong Ou, Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1993, 115(4): 884–891.
https://doi.org/10.1115/1.2919283
Published Online: December 1, 1993
View Article titled, Kinematic Synthesis of Tendon-Driven Manipulators with Isotropic Transmission Characteristics
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Topics: Kinematics, Manipulators, Tendons, Actuators, Design, End effectors, Jacobian matrices
Journal Articles

On the Redundant-Drive Backlash-Free Robotic Mechanisms

Sun-Lai Chang, Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1993, 115(2): 247–254.
https://doi.org/10.1115/1.2919184
Published Online: June 1, 1993
View Article titled, On the Redundant-Drive Backlash-Free Robotic Mechanisms
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Topics: Robotics, Actuators, Gears, Manipulators, Construction, End effectors, Tendons
Journal Articles

Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph Theory

Lung-Wen Tsai, Jyh-Jone Lee
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1989, 111(1): 59–65.
https://doi.org/10.1115/1.3258972
Published Online: March 1, 1989
View Article titled, Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph Theory
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Topics: Kinematic analysis, Robotics, Tendons, Kinematics, Circuits, Displacement, Kinematic chains, Planetary gears, Trains