IEEE-ASME Transactions on Mechatronics
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5.30
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3,942
Papers 3,825
1 page of 383 pages (3,825 results)
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#1Houcheng Li (CAS: Chinese Academy of Sciences)H-Index: 1
#2Long Cheng (CAS: Chinese Academy of Sciences)H-Index: 38
Last. Cao Ran (CAS: Chinese Academy of Sciences)
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In this article, a novel underactuated finger exoskeleton is designed to assist grasping tasks for the elderly with weak muscle strength. In mechanical design, the human finger’s phalanges and joints are considered as part of the kinematic chains to realize the human-robot kinematic compatibility. The proposed finger exoskeleton achieves the finger preshaping and grasps objects with generic shapes. The proposed exoskeleton is both actively and passively backdriveable. Moreover, the weight of the...
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#1Zhou Shi (Jiangsu University)H-Index: 9
#2Xiaodong Sun (Jiangsu University)H-Index: 27
Last. Jianguo Zhu (USYD: University of Sydney)H-Index: 65
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Due to the increasing demand for high-speed motors with high stability, bearingless motors have attracted much attention. Bearingless permanent magnet synchronous motors (BPMSMs) are a kind of motor, which uses suspension force to eliminate the motor bearings. This article proposes a five-phase BPMSM with 10 slots and 8 poles. Based on the principle of suspension force of BPMSM, an analytical expression of the suspension force is derived for the proposed BPMSM. To improve the suspension stabilit...
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#1Guangzeng Chen (HIT: Harbin Institute of Technology)
#2Yunjiang Lou (HIT: Harbin Institute of Technology)
The complicated rate-dependent hysteresis due to the input current and rotation speed of the magnetorheological clutch (MRC) greatly hinders its applications in robotics. In this article, it is first proved that the Preisach model is a special diagonal recurrent neural network (dRNN) with a binary step activation function. Motivated by this, the condition and the internal knowledge of the classical dRNN in modeling the rate-dependent hysteresis are investigated and validated. To guarantee that s...
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#1Ting Zhang (Soochow University)H-Index: 11
#2Kaixiang Feng (Soochow University)
Last. Zhenhua Gong (Soochow University)
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To overcome the limitations of a traditional soft hip exosuit directly driven by Bowden cables or winding belts at two points, in this article, we propose a new soft hip exosuit design concept based on series-wedge-structures for energy-efficient walking and running during daily activities for elderly individuals. The series-wedge-structure is designed to improve the comfort of the wearer–exosuit interface and to passively adapt to the user's body curvature, with no hindrance during movement. Th...
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#1Zhengxin Yang (CUHK: Chinese University of Hong Kong)H-Index: 3
#2Lidong Yang (CUHK: Chinese University of Hong Kong)H-Index: 15
Last. Li Zhang (CUHK: Chinese University of Hong Kong)H-Index: 91
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The endovascular intervention has been widely used to treat occlusive peripheral vascular disease (PVD). However, the current procedure has concerns such as low successful rate, undesired trauma, and radiation exposure. This article proposes a robotic solution to mitigate these limitations. A miniature magnetic driller-tipped guidewire (MDG) is designed, which performs 1) controllable bending under directional magnetic fields to navigate in complex vasculature and 2) mechanical drilling under ro...
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#1Zaixin Song (City University of Hong Kong)H-Index: 8
#2Chunhua Liu (City University of Hong Kong)H-Index: 33
Last. Rundong Huang (City University of Hong Kong)
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In this article, an in-depth study on eccentricities and their resultant vibration characteristics of an interior permanent magnet synchronous generator (IPMSG) for portable power generation is proposed. Also, this article introduces the eccentricity detection through vibration tests, since the vibration patterns caused by eccentricities are unique. Three basic eccentricity cases are investigated, namely the static, dynamic, and elliptical. Air-gap radial flux density and radial force density pr...
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#1Yao Zou (USTB: University of Science and Technology Beijing)H-Index: 10
#2Wenfu Yang (USTB: University of Science and Technology Beijing)
Last. Carlos Silvestre (Instituto Superior Técnico)H-Index: 51
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This article studies the localization and circumnavigation problem concerned with a cluster of nonholonomic vehicles independently of a uniform global coordinate. Particularly, the clustered vehicles collaboratively locate an unknown target and then circumnavigate it isometrically with desired distance and velocity. However, the vehicles have no access to any position information, including their own absolute positions and others’ relative positions. Instead, they are capable of measuring relati...
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#1Kunpeng Zhu (WUST: Wuhan University of Science and Technology)H-Index: 12
#2Jerry Y. H. Fuh (NUS: National University of Singapore)H-Index: 64
Last. Lin Xin (WUST: Wuhan University of Science and Technology)H-Index: 2
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The metal-based additive manufacturing (MAM) processes have great potential in wide industrial applications, for their capabilities in building dense metal parts with complex geometry and internal characteristics. However, various defects in the MAM process greatly affect the precision, mechanical properties and repeatability of final parts. These defects limit its application as a reliable manufacturing process, especially in the aerospace and medical industries where high quality and reliabili...
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#1Qingxiang Zhao (HKPU: Hong Kong Polytechnic University)H-Index: 2
#2Jiewen Lai (HKPU: Hong Kong Polytechnic University)H-Index: 4
Last. Henry K. Chu (HKPU: Hong Kong Polytechnic University)H-Index: 9
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Finding the shape of a continuum robot is a challenging task, especially in a constrained environment where external sensors like cameras are unable to provide sufficient information. In particular, accurate robot control becomes more difficult when the robot needs to interact with uncertain external payloads. In this article, we present the development of a soft robotic system with embedded sensors to help reconstruct the shape of the robot under different external disturbances. First, strain g...
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#1Huijie Dong (CAS: Chinese Academy of Sciences)H-Index: 3
#2Zhengxing Wu (CAS: Chinese Academy of Sciences)H-Index: 18
Last. Junzhi Yu (CAS: Chinese Academy of Sciences)H-Index: 34
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In this article, we present a novel separate strategy to control the pitch attitude and the gliding direction for a biomimetic gliding robotic fish by the coordination of the external and internal control surfaces. First, we derive the gliding dynamics and hydrodynamics within the framework of the extended angle of attack (AOA), based on which the gliding model is decomposed into pitch and velocity terms. Next, the backstepping and model predictive controllers are designed to regulate pitch angl...
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