Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

One-Degree-of-Freedom System

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...

Three-Dimensional Force System:Problem Solving

Three-Dimensional Force System:Problem Solving

A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...

Mechanical Systems

Mechanical Systems

Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...

Virtual Work for a System of Connected Rigid Bodies

Virtual Work for a System of Connected Rigid Bodies

Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...

Sequence Networks of Rotating Machines

Sequence Networks of Rotating Machines

A Y-connected synchronous generator, grounded through a neutral impedance, is designed to produce balanced internal phase voltages with only positive-sequence components. The generator's sequence networks include a source voltage that is exclusively in the positive-sequence network. The sequence components of line-to-ground voltages at the generator terminals illustrate this configuration.
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Competitive mechanism of stress-driven anelasticity recovery and viscoplastic accumulation in metallic glasses.

Journal of physics. Condensed matter : an Institute of Physics journal·2026

Same author

Intracapsular Resection of Thoracic Extradural Schwannomas via the Isthmic Approach: Investigation of Clinical Feasibility With 41 Case Series.

CNS neuroscience & therapeutics·2025

Same author

Free Energy Criterion for Thermal Stability of Schwarz Nanocrystals.

Nano letters·2025

Same author

Maintaining Grain Boundary Segregation-Induced Strengthening Effect in Extremely Fine Nanograined Metals.

Nano letters·2025

Same author

Progressive Learning Strategy for Few-Shot Class-Incremental Learning.

IEEE transactions on cybernetics·2025

Same author

Standalone ultrasound-based highly visualized volumetric spine imaging for surgical navigation.

Scientific reports·2025

Search research articles

Related Experiment Video

Updated: Jul 4, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Bioinspired handheld time-share driven robot with expandable DoFs.

Yunjiang Wang¹, Xinben Hu^2,3, Luhang Cui¹

¹Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.

Nature Communications

|January 26, 2024

Summary

This study introduces a novel handheld robot powered by a single motor and shape memory alloy (SMA) wires. This innovative design enables multi-degree-of-freedom control for enhanced robotic surgery capabilities.

More Related Videos

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

Related Experiment Videos

Last Updated: Jul 4, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

Area of Science:

Robotics
Biomedical Engineering
Materials Science

Background:

Handheld robots offer accessibility and ease of use but are limited by actuator space for degrees of freedom.
Existing robotic systems often require multiple actuators, increasing complexity and size.
The need for dexterous, compact robotic solutions for minimally invasive procedures is growing.

Purpose of the Study:

To develop a handheld robot with multiple degrees of freedom using a novel time-share driven mechanism.
To overcome the limitations of actuator space in handheld robotic devices.
To demonstrate the applicability of this robotic system in clinical scenarios for remote surgical operations.

Main Methods:

A single motor powers multiple motion modules through a time-share driven system.
Shape memory alloy (SMA) wires act as "nerves" to selectively activate motion modules.
A compact manipulator, composed of sequentially linked bending modules (BM), was designed and integrated with a motor base.

Main Results:

The handheld robot achieved multi-degree-of-freedom control with a single motor and SMA wire actuation.
The manipulator demonstrated tailored length and in situ instrument integration capabilities.
Successful transluminal experiments were conducted on human stomach models and ex vivo porcine stomachs.

Conclusions:

The time-share driven mechanism provides a practical solution for creating multi-degree-of-freedom handheld robots.
This technology facilitates non-invasive access and high-dexterity operations in remote surgical settings.
The developed robot shows significant potential for broader applications in minimally invasive surgery and beyond.