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Keywords: structure design
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Journal Articles

Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints

Xuhao Wang, Chengfa Wang, Mengli Wu, Mingyu Li, Yilong Xu, Guanhao Li, Zhiyong Guo, Yiran Cao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121003.
Paper No: JMR-23-1297
https://doi.org/10.1115/1.4065084
Published Online: March 29, 2024
... continuum robot offset cross revolute joint structure design inverse kinematics cable driven mechanisms Continuum robots have increasingly attracted attention from the scholars in the last two decades, owing to their distinct features of hyper-redundant degrees of freedom (DOF), lightweight...
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Topics: Kinematics, Robots, Cables, Algorithms, Simulation, Stiffness
Journal Articles

Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery

Zhengyu Wang, Wenjun Song, Wenjie Bian, Ziqian Li, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101010.
Paper No: JMR-23-1615
https://doi.org/10.1115/1.4064636
Published Online: February 27, 2024
... Graphical Abstract Figure microlaryngoscopic surgery auxiliary exoskeleton tendon-sheath-driven structure design motion control National Natural Science Foundation of China 10.13039/501100001809 52175221 Microlaryngoscopic surgery is a common acoustic clinical surgical...
View Article titled, Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery
Open the PDF for Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery in another window
Topics: Design, Engineering prototypes, Exoskeleton devices, Rotation, Surgery, Tendons, Torque, Kinematics, Cables, Mechanical admittance
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
... 2023 endoscopic robot structure design continuum mechanism compensation calibration motion control National Natural Science Foundation of China 10.13039/501100001809 52175221 Minimally invasive surgery is a surgical mode which sends special instruments, physical energy...
View Article titled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
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Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration