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Proceedings Papers

On the Effectiveness and Optimal Performance of Gravity Compensation Design of an Inverted Slider-Crank Mechanism Using Realistic Springs

Xiangxian Zeng, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A023, August 14–17, 2022
Paper No: DETC2022-89695
https://doi.org/10.1115/DETC2022-89695
View Paper titled, On the Effectiveness and Optimal Performance of Gravity Compensation Design of an Inverted Slider-Crank Mechanism Using Realistic Springs
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Topics: Design, Gravity (Force), Springs
Journal Articles

Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031016.
Paper No: JMR-21-1399
https://doi.org/10.1115/1.4053048
Published Online: December 9, 2021
View Article titled, Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties
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Topics: Gravity (Force), Reliability, Robots, Springs, Uncertainty, Design, Torque, Event history analysis, Optimization
Proceedings Papers

Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A024, August 17–19, 2021
Paper No: DETC2021-66762
https://doi.org/10.1115/DETC2021-66762
View Paper titled, Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties
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Topics: Gravity (Force), Manipulators, Reliability, Sensitivity analysis, Uncertainty, Robots, Simulation, Springs, Design, Dimensions
Journal Articles

Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021

Chin-Hsing Kuo, Just Herder, Leila Notash, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Article Type: Announcements
J. Mechanisms Robotics. June 2021, 13(3): 038001.
Paper No: JMR-21-1100
https://doi.org/10.1115/1.4050467
Published Online: April 22, 2021
View Article titled, Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021
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Topics: Design, Robotics
Journal Articles

Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study

Chin-Hsing Kuo, Vu Linh Nguyen, Daniel Robertson, Lin-Tien Chou, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040906.
Paper No: JMR-20-1621
https://doi.org/10.1115/1.4050682
Published Online: April 19, 2021
View Article titled, Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study
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Topics: Design, Springs
Journal Articles

Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion

Chin-Hsing Kuo, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031011.
Paper No: JMR-20-1451
https://doi.org/10.1115/1.4050151
Published Online: March 15, 2021
View Article titled, Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion
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Topics: End effectors, Manipulators, Screws, Design
Proceedings Papers

Structure Synthesis of Parallel Manipulators With Fully Decoupled Projective Motion and Any Degrees of Freedom

Chin-Hsing Kuo, Jian S. Dai
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A028, August 17–19, 2020
Paper No: DETC2020-22490
https://doi.org/10.1115/DETC2020-22490
View Paper titled, Structure Synthesis of Parallel Manipulators With Fully Decoupled Projective Motion and Any Degrees of Freedom
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Topics: Degrees of freedom, Manipulators, Design, Screws, End effectors
Journal Articles

Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules

Vu Linh Nguyen, Chyi-Yeu Lin, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031014.
Paper No: JMR-19-1279
https://doi.org/10.1115/1.4045650
Published Online: February 6, 2020
View Article titled, Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
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Topics: Design, Gears, Gravity (Force), Robots, Springs, Stiffness, Engines, Motors, Torque
Proceedings Papers

A Gear-Slider Gravity Compensation Mechanism: Design and Experimental Study

Linh Nguyen Vu, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A009, August 18–21, 2019
Paper No: DETC2019-97602
https://doi.org/10.1115/DETC2019-97602
View Paper titled, A Gear-Slider Gravity Compensation Mechanism: Design and Experimental Study
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Topics: Design, Gears, Gravity (Force), Engines, Motors, Springs, Torque, Compression, Engineering prototypes, Friction
Proceedings Papers

Computer Vision-Based Object Recognition and Automatic Pneumatic Soft Gripping

Ebrahim Shahabi, Wei-Hao Lu, Po Ting Lin, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2019, Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, V009T12A006, August 18–21, 2019
Paper No: DETC2019-97976
https://doi.org/10.1115/DETC2019-97976
View Paper titled, Computer Vision-Based Object Recognition and Automatic Pneumatic Soft Gripping
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Topics: Computers, Object recognition, Robotics, Grasping, Grippers, Shapes, Actuators, Additive manufacturing, Biomedicine, Machinery
Proceedings Papers

Design of Constant-Force Mechanisms Based on Straight-Line Linkages

Hsin-Ting Huang, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A031, August 26–29, 2018
Paper No: DETC2018-85241
https://doi.org/10.1115/DETC2018-85241
View Paper titled, Design of Constant-Force Mechanisms Based on Straight-Line Linkages
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Topics: Design, Linkages, Springs, Compression, End effectors
Proceedings Papers

Continuum Kinematics of a Planar Dual-Backbone Robot Based on Pseudo-Rigid-Body Model: Formulation, Accuracy, and Efficiency

Chin-Hsing Kuo, Yen-Chun Chen, Ta-Yu Pan
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A015, August 6–9, 2017
Paper No: DETC2017-67853
https://doi.org/10.1115/DETC2017-67853
View Paper titled, Continuum Kinematics of a Planar Dual-Backbone Robot Based on Pseudo-Rigid-Body Model: Formulation, Accuracy, and Efficiency
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Topics: Kinematics, Robots, Displacement, Errors, Simulation, Compliant mechanisms, Computation, Kinematic analysis, Modeling, Nonlinear systems
Journal Articles

A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise

Tzu-Yu Tseng, Yi-Jia Lin, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041002.
Paper No: JMR-16-1039
https://doi.org/10.1115/1.4036218
Published Online: April 27, 2017
View Article titled, A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise
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Topics: Gravity (Force), Knee, Potential energy, Springs, Design, Muscle, Electromyography, Simulation
Journal Articles

A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload

Yu-Lin Chu, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021006.
Paper No: JMR-16-1321
https://doi.org/10.1115/1.4035561
Published Online: March 9, 2017
View Article titled, A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload
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Topics: Gravity (Force), Springs, Design
Journal Articles

Innovative Design of an Automatic Acupoint Catgut-Embedding Instrument

Chin-Hsing Kuo, Chun-Wen Wang
Journal: Journal of Medical Devices
Article Type: Design Innovation Paper
J. Med. Devices. March 2017, 11(1): 015001.
Paper No: MED-16-1313
https://doi.org/10.1115/1.4035689
Published Online: January 25, 2017
View Article titled, Innovative Design of an Automatic Acupoint Catgut-Embedding Instrument
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Topics: Cutting, Design, Instrumentation, Needles, Engineering prototypes
Proceedings Papers

A Single-DoF Self-Regulated Gravity Balancer for Adjustable Payload

Yu-Lin Chu, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A069, August 21–24, 2016
Paper No: DETC2016-59930
https://doi.org/10.1115/DETC2016-59930
View Paper titled, A Single-DoF Self-Regulated Gravity Balancer for Adjustable Payload
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Topics: Gravity (Force), Springs, Design, Cables, Actuators, Engineering prototypes, Sensors
Proceedings Papers

Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients

Tzu-Yu Tseng, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A037, August 2–5, 2015
Paper No: DETC2015-46706
https://doi.org/10.1115/DETC2015-46706
View Paper titled, Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients
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Topics: Design, Gravity (Force), Muscle, Knee, Antigravity, Electromyography, Computer software, Engineering prototypes, Rehabilitation devices, Signals
Journal Articles

Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation

Chin-Hsing Kuo, Shao-Jung Lai
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2016, 8(1): 015001.
Paper No: JMR-14-1035
https://doi.org/10.1115/1.4029789
Published Online: August 18, 2015
View Article titled, Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation
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Topics: Design, Laparoscopic devices, Potential energy, Springs, Surgery, Kinematics, End effectors, Engineering prototypes
Proceedings Papers

Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation

Chin-Hsing Kuo, Shao-Jung Lai
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A006, August 17–20, 2014
Paper No: DETC2014-34711
https://doi.org/10.1115/DETC2014-34711
View Paper titled, Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation
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Topics: Design, Laparoscopic devices, Parallel mechanisms, Kinematics, Linkages, Surgery, Computer simulation, Computer-aided design, End effectors, Engineering prototypes
Proceedings Papers

An Algebraic and Computational Strategy for Structure Decomposition of Variable Topology Mechanisms

Chin-Hsing Kuo, Lung-Yu Chang
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A046, August 4–7, 2013
Paper No: DETC2013-12510
https://doi.org/10.1115/DETC2013-12510
View Paper titled, An Algebraic and Computational Strategy for Structure Decomposition of Variable Topology Mechanisms
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Topics: Algebra, Topology, Computation, Sawing, Steel, Structural analysis