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Jian S Dai
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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
Article Type: Guest Editorial
J. Mechanisms Robotics. December 2022, 14(6): 060301.
Paper No: JMR-22-1441
DOI: https://doi.org/10.1115/1.4055836
Published Online: October 31, 2022
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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
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
DOI: https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
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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
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
DOI: https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
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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
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060907.
Paper No: JMR-21-1640
DOI: https://doi.org/10.1115/1.4054408
Published Online: May 26, 2022
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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
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
DOI: https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
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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
Article Type: Research Papers
J. Mech. Des. May 2022, 144(5): 053301.
Paper No: MD-21-1205
DOI: https://doi.org/10.1115/1.4052842
Published Online: December 6, 2021
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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
Article Type: Guest Editorial
J. Mechanisms Robotics. August 2021, 13(4): 040301.
Paper No: JMR-21-1250
DOI: https://doi.org/10.1115/1.4051206
Published Online: June 3, 2021
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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
Article Type: Technical Briefs
J. Mech. Des. September 2021, 143(9): 094501.
Paper No: MD-20-1519
DOI: https://doi.org/10.1115/1.4050301
Published Online: March 24, 2021
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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
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031011.
Paper No: JMR-20-1451
DOI: https://doi.org/10.1115/1.4050151
Published Online: March 15, 2021
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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
Paper No: 96-DETC/MECH-1002
DOI: https://doi.org/10.1115/96-DETC/MECH-1002
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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
Paper No: 96-DETC/MECH-1004
DOI: https://doi.org/10.1115/96-DETC/MECH-1004
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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
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021014.
Paper No: JMR-20-1232
DOI: https://doi.org/10.1115/1.4049648
Published Online: February 23, 2021
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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
Paper No: DETC98/MECH-5902
DOI: https://doi.org/10.1115/DETC98/MECH-5902
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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
Paper No: DETC2000/MECH-14110
DOI: https://doi.org/10.1115/DETC2000/MECH-14110
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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
Paper No: DETC2000/MECH-14127
DOI: https://doi.org/10.1115/DETC2000/MECH-14127
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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
Paper No: DETC2020-22490
DOI: https://doi.org/10.1115/DETC2020-22490
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Topics: Degrees of freedom, Manipulators, Design, Screws, End effectors
Proceedings Papers

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism

Xuheng Chai, Latifah Nurahmi, Jian S. Dai, Dongming Gan
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A088, August 17–19, 2020
Paper No: DETC2020-22169
DOI: https://doi.org/10.1115/DETC2020-22169
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Topics: Calibration, Kinematics, Parallel mechanisms, Optimization, Optimization algorithms, Switches, Trajectories (Physics)
Journal Articles

A Novel Ortho-Triplex Tensegrity Derived by the Linkage-Truss Transformation With Prestress-Stability Analysis Using Screw Theory

Liheng Wu, Jian S. Dai
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. January 2021, 143(1): 013302.
Paper No: MD-19-1532
DOI: https://doi.org/10.1115/1.4047154
Published Online: July 27, 2020
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Topics: Linkages, Stability, Tensegrity, Trusses (Building), Screws
Journal Articles

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

Lingda Meng, Rongjie Kang, Dongming Gan, Guimin Chen, Lisha Chen, David T. Branson, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061005.
Paper No: JMR-19-1347
DOI: https://doi.org/10.1115/1.4046837
Published Online: May 12, 2020
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Topics: Actuators, Robots, Springs, Shape memory alloys, Displacement, Design
Journal Articles

Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion

Jun Wei, Jian S. Dai
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. June 2020, 142(6): 063302.
Paper No: MD-19-1007
DOI: https://doi.org/10.1115/1.4045042
Published Online: November 25, 2019
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Topics: Bifurcation, Generators, Parallel mechanisms, Switches, Kinematic chains