All Outputs (12)

Design and analysis of a six-wheeled companion robot with mechanical obstacle-overcoming adaptivity (2021)
Journal Article
Song, Z., Luo, Z., Wei, G., & Shang, J. (2021). Design and analysis of a six-wheeled companion robot with mechanical obstacle-overcoming adaptivity. Mechanical Sciences, 12(2), 1115-1136. https://doi.org/10.5194/ms-12-1115-2021

A six-wheeled companion exploration robot with an adaptive climbing mechanism is proposed and
released for the complicated terrain environment of planetary exploration. Benefiting from its three-rocker-arm
structure, the robot can adapt to complex... Read More about Design and analysis of a six-wheeled companion robot with mechanical obstacle-overcoming adaptivity.

Design and performance investigation of a robot-assisted flexible ureteroscopy system (2021)
Journal Article
Zhao, J., Li, J., Cui, L., Shi, C., & Wei, G. (2021). Design and performance investigation of a robot-assisted flexible ureteroscopy system. Applied Bionics and Biomechanics, 2021, 6911202. https://doi.org/10.1155/2021/6911202

Flexible ureteroscopy (FURS) has been developed and has become a preferred routine procedure for both diagnosis and treatment of kidney stones and other renal diseases inside the urinary tract. The traditional manual FURS procedure is highly skill-de... Read More about Design and performance investigation of a robot-assisted flexible ureteroscopy system.

Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot (2021)
Journal Article
Chen, Q., Lin, Q., Wei, G., & Ren, L. (2022). Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 236(1), 100-114. https://doi.org/10.1177/09544062211026344

This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better force measurement device. Kinematics and dynamics for a CDPR of n-DOF are deduced and formulated, and algorithms for calculating... Read More about Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot.

Biology and bioinspiration of soft robotics : actuation, sensing, and system integration (2021)
Journal Article
Ren, L., Li, B., Wei, G., Wang, K., Song, Z., Wei, Y., …Liu, Q. (2021). Biology and bioinspiration of soft robotics : actuation, sensing, and system integration. iScience, 24(9), 103075. https://doi.org/10.1016/j.isci.2021.103075

Organisms in nature grow with senses, nervous, and actuation systems coordinated in ingenious ways to sustain metabolism and other essential life activities. The understanding of biological structures and functions guide the construction of soft robo... Read More about Biology and bioinspiration of soft robotics : actuation, sensing, and system integration.

Bioinspired actuators with intrinsic muscle-like mechanical properties (2021)
Journal Article
Liu, C., Wang, Y., Qian, Z., Wang, K., Zhao, F., Ding, P., …Ren, L. (2021). Bioinspired actuators with intrinsic muscle-like mechanical properties. iScience, 24(9), 103023. https://doi.org/10.1016/j.isci.2021.103023

Humans and animals can achieve agile and efficient movements because the muscle can operate in different modes depending on its intrinsic mechanical properties. For bioinspired robotics and prosthetics, it is highly desirable to have artificial actua... Read More about Bioinspired actuators with intrinsic muscle-like mechanical properties.

Low-cost multisensor integrated system for online walking gait detection (2021)
Journal Article
Yan, L., Wei, G., Hu, Z., Xiu, H., Wei, Y., & Ren, L. (2021). Low-cost multisensor integrated system for online walking gait detection. Journal of Sensors, 2021, 6378514. https://doi.org/10.1155/2021/6378514

A three-dimensional motion capture system is a useful tool for analysing gait patterns during walking or exercising, and it is frequently applied in biomechanical studies. However, most of them are expensive. This study designs a low-cost gait detect... Read More about Low-cost multisensor integrated system for online walking gait detection.

Thick-panel origami cube (2021)
Journal Article
Gu, Y., Wei, G., & Chen, Y. (2021). Thick-panel origami cube. Mechanism and Machine Theory, 164, 104411. https://doi.org/10.1016/j.mechmachtheory.2021.104411

This paper presents a new method for constructing a novel thick-panel origami cube. By replacing the equivalent 4R-spherical linkage in a four-crease zero-thickness origami vertex with a plane-symmetric Bricard linkage, the thick-panel form of a gene... Read More about Thick-panel origami cube.

Speed-related energy flow and joint function change during human walking (2021)
Journal Article
Hu, Z., Ren, L., Hu, D., Gao, Y., Wei, G., Qian, Z., & Wang, K. (2021). Speed-related energy flow and joint function change during human walking. Frontiers in Bioengineering and Biotechnology, 9, 666428. https://doi.org/10.3389/fbioe.2021.666428

During human walking, mechanical energy transfers between segments via joints. Joint mechanics of the human body are coordinated with each other to adapt to speed change. The aim of this study is to analyze the functional behaviors of major joints du... Read More about Speed-related energy flow and joint function change during human walking.

The impact of locomotor speed on the human metatarsophalangeal joint kinematics (2021)
Journal Article
Wang, K., Raychoudhury, S., Hu, D., Ren, L., Liu, J., Xiu, H., …Qian, Z. (2021). The impact of locomotor speed on the human metatarsophalangeal joint kinematics. Frontiers in Bioengineering and Biotechnology, 9, 644582. https://doi.org/10.3389/fbioe.2021.644582

This paper aims to further our previous study to investigate the effect of speed on the human metatarsophalangeal (MP) joint kinematics during running on level ground. The 3D motion of the foot segments was captured by a twelve-camera motion analysis... Read More about The impact of locomotor speed on the human metatarsophalangeal joint kinematics.

Geometric constraint-based reconfiguration and self-motions of a 4-CRU parallel mechanism (2021)
Journal Article
Nurahmi, L., Putrayudanto, P., Wei, G., & Agrawal, S. (2021). Geometric constraint-based reconfiguration and self-motions of a 4-CRU parallel mechanism. Journal of Mechanisms and Robotics, 13(2), 021017. https://doi.org/10.1115/1.4049879

This paper aims to investigate the reconfiguration and self-motions of a 4-CRU parallel mechanism based on the mechanism geometric constraints. The targeted application of such mechanism in this research is for 3D-printing buildings of multi-directio... Read More about Geometric constraint-based reconfiguration and self-motions of a 4-CRU parallel mechanism.

An affordable linkage-and-tendon hybrid-driven anthropomorphic robotic hand – MCR-Hand II (2021)
Journal Article
Yang, H., Wei, G., Ren, L., Qian, Z., Wang, K., Xiu, H., & Liang, W. (2021). An affordable linkage-and-tendon hybrid-driven anthropomorphic robotic hand – MCR-Hand II. Journal of Mechanisms and Robotics, 13(2), 024502. https://doi.org/10.1115/1.4049744

This paper presents the design, analysis and development of an anthropomorphic robotic hand coined MCR-Hand II. This hand takes the advantages of both the tendon-driven and linkage-driven systems, leading to a compact mechanical structure that aims t... Read More about An affordable linkage-and-tendon hybrid-driven anthropomorphic robotic hand – MCR-Hand II.

Gyroscope sensor based in vivo finger axes of rotation identification using screw displacement (2021)
Journal Article
Zhu, Y., Wei, G., Ren, L., Luo, Z., & Shang, J. (2021). Gyroscope sensor based in vivo finger axes of rotation identification using screw displacement. Applied Bionics and Biomechanics, 2021, 8871593. https://doi.org/10.1155/2021/8871593

This paper presents a low-cost, efficient, and portable in vivo method for identifying axes of rotation of the proximal interphalangeal and distal interphalangeal joints in an index finger. The approach is associated with the screw displacement repre... Read More about Gyroscope sensor based in vivo finger axes of rotation identification using screw displacement.