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Jian S. Dai
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Journal Articles

Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition

Zhao Tang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051011.
Paper No: JMR-22-1518
https://doi.org/10.1115/1.4062915
Published Online: July 21, 2023
View Article titled, Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition
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Topics: Linkages
Journal Articles

Jubilee Review: The 65 Years of the ASME Machine Design Award (1958–2023)

Huijuan Feng, Guanglu Jia, Yenhua Lin, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Guest Editorial
J. Mech. Des. August 2023, 145(8): 080301.
Paper No: MD-22-1661
https://doi.org/10.1115/1.4062347
Published Online: May 22, 2023
View Article titled, Jubilee Review: The 65 Years of the ASME Machine Design Award (1958–2023)
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Topics: Design, Engineering teachers, Kinematics, Machine design, Machinery, Mechanical engineering, Robotics, Dynamics (Mechanics), Design engineering
Journal Articles

Design, Analysis, and Experiment of the Origami Robot Based on Spherical-Linkage Parallel Mechanism

Yuntao Guan, Zheming Zhuang, Ze Zhang, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2023, 145(8): 081701.
Paper No: MD-22-1549
https://doi.org/10.1115/1.4062497
Published Online: May 18, 2023
View Article titled, Design, Analysis, and Experiment of the Origami Robot Based on Spherical-Linkage Parallel Mechanism
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Topics: Design, Hinges, Manufacturing, Robots, Simulation, Parallel mechanisms, Finite element analysis
Journal Articles

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

Yen-Hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Zhongtao Fu, Shuangjia Xu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
https://doi.org/10.1115/1.4062238
Published Online: May 2, 2023
View Article titled, Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand
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Topics: Friction, Design, Robotics, End effectors
Journal Articles

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

Dongming Gan, Stéphane Caro, Guimin Chen, Scott Nokleby, Jian S Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. December 2022, 14(6): 060301.
Paper No: JMR-22-1441
https://doi.org/10.1115/1.4055836
Published Online: October 31, 2022
View Article titled, Special Section: Theory and Design of Reconfigurable Mechanisms and Robots
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Topics: Design, Robots, Robotics
Journal Articles

Design and Control of SLPM-Based Extensible Continuum Arm

Zheming Zhuang, Ze Zhang, Yuntao Guan, Wei Wei, Mi Li, Zhao Tang, Rongjie Kang, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
View Article titled, Design and Control of SLPM-Based Extensible Continuum Arm
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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Article titled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism

Zhao Tang, Kun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060907.
Paper No: JMR-21-1640
https://doi.org/10.1115/1.4054408
Published Online: May 26, 2022
View Article titled, Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism
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Topics: Robots, Biomimetics, Design, Spin (Aerodynamics), Spinning (Textile)
Journal Articles

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

Tun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
View Article titled, Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
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Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots
Journal Articles

Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity

Tun Wang, Enea Olivoni, Emmanouil Spyrakos-Papastavridis, Rory J. O'Connor, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2022, 144(5): 053301.
Paper No: MD-21-1205
https://doi.org/10.1115/1.4052842
Published Online: December 6, 2021
View Article titled, Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity
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Topics: Exoskeleton devices, Rotation, Design, Actuators, Kinematics
Journal Articles

Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms

Jian S. Dai, Yan Jin, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. August 2021, 13(4): 040301.
Paper No: JMR-21-1250
https://doi.org/10.1115/1.4051206
Published Online: June 3, 2021
View Article titled, Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms
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Topics: Design, Parallel mechanisms
Journal Articles

Design of Transformable Hinged Ori-Block Dissected from Cylinders and Cones

Guanglu Jia, Hailin Huang, Hongwei Guo, Bing Li, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. September 2021, 143(9): 094501.
Paper No: MD-20-1519
https://doi.org/10.1115/1.4050301
Published Online: March 24, 2021
View Article titled, Design of Transformable Hinged Ori-Block Dissected from Cylinders and Cones
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Topics: Cylinders, Design, Kinematics, Linkages, Rotation
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
Publisher: ASME
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

Orientation Capability and Robot Wrists

Neil Holland, Jian S. Dai, David R. Kerr
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A024, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1002
https://doi.org/10.1115/96-DETC/MECH-1002
View Paper titled, Orientation Capability and Robot Wrists
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Topics: Manipulators, Robots, Yaw
Proceedings Papers

Task-Oriented Direct Synthesis of Serial Manipulators Using Moment Invariants

Jian S. Dai, Neil Holland, David R. Kerr
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A012, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1004
https://doi.org/10.1115/96-DETC/MECH-1004
View Paper titled, Task-Oriented Direct Synthesis of Serial Manipulators Using Moment Invariants
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Topics: Manipulators, Computers, Design, Numerical analysis
Journal Articles

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021014.
Paper No: JMR-20-1232
https://doi.org/10.1115/1.4049648
Published Online: February 23, 2021
View Article titled, Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control
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Topics: Control equipment, Pole placement, Robots, Stability, Motors
Proceedings Papers

Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds

Jian S. Dai, John Rees Jones
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A074, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5902
https://doi.org/10.1115/DETC98/MECH-5902
View Paper titled, Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds
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Topics: Mechanical admittance, Kinematics, Screws, Geometry, Hinges, Joining, Systems theory
Proceedings Papers

Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications

Abdul Ghafoor, Jian S. Dai, Joseph Duffy
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 551-560, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14110
https://doi.org/10.1115/DETC2000/MECH-14110
View Paper titled, Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications
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Topics: Robotics, Stiffness, Springs, Screws
Proceedings Papers

Path Planning With Selective/Desriable Orientation in Finite Twist Mapping Space

Paresh Shah, Jian S. Dai
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 741-747, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14127
https://doi.org/10.1115/DETC2000/MECH-14127
View Paper titled, Path Planning With Selective/Desriable Orientation in Finite Twist Mapping Space
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Topics: Path planning, Manipulators, Redundant manipulators, Space
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
Publisher: American Society of Mechanical Engineers
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