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

Mechanical Efficiency of Real Machines

Mechanical Efficiency of Real Machines

The mechanical efficiency of a machine is a fundamental concept that describes how effectively a machine can convert input work into output work. According to this concept, the efficiency of a machine is equal to the ratio of the output work to the input work. An ideal machine, meaning a machine that has no energy losses, has an efficiency of one. This implies that the input work and the output work are equal.
However, in reality, no machine can be truly ideal, and all of them experience some...

Machines

Machines

Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. One example of a machine is the cutting plier, which is used to cut wires by applying forces to its handles. When equal and opposite forces are exerted on the handles of the cutting plier, they cause the cutting edges to come together and apply equal and opposite reaction forces on the wire, which are greater than the applied forces.
A free-body diagram of the...

You might also read

Related Articles

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

Sort by

Same journal

Tip-Growing Robots: Design, Theory, Application.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2026

Same journal

Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025

Same journal

CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025

Same journal

Ambilateral Activity Recognition and Continuous Adaptation with a Powered Knee-Ankle Prosthesis.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025

Same journal

Safe Start Regions for Medical Steerable Needle Automation.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025

Same journal

A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025

See all related articles

Search research articles

Related Experiment Video

Updated: May 7, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand.

Karl Van Wyk¹, Mark Culleton², Joe Falco¹

¹National Institute of Standards and Technology, Gaithersburg, MD 20899 USA.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society

|April 12, 2024

Summary

This summary is machine-generated.

This study introduces a new peg-in-hole test for robotic fine manipulation. A novel robotic hand controller demonstrated superior performance compared to traditional grippers, reducing errors and forces.

Keywords:

Grasping manipulation performance testing

More Related Videos

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

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Published on: May 20, 2020

Related Experiment Videos

Last Updated: May 7, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

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

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Published on: May 20, 2020

Area of Science:

Robotics
Manufacturing Automation
Control Systems

Background:

Force-based manipulation is crucial for robotic fine assembly tasks.
Systematic performance comparison is needed to advance robotic manipulation.
The peg-in-hole task is a standard benchmark for fine manipulation.

Purpose of the Study:

Develop a standardized peg-in-hole test method with performance metrics.
Demonstrate a new manipulation controller with a robotic hand for peg-in-hole tasks.
Benchmark robotic insertion strategies using the developed test.

Main Methods:

Created a peg-in-hole testbed with performance metrics and data analysis.
Implemented and tested a novel compliant robotic hand controller.
Compared a compliant hand/stiff arm system against a stiff gripper/compliant arm system.

Main Results:

The novel robotic hand system matched or exceeded gripper system performance.
Active control of the peg's pose reduced positional error sensitivity.
Minimized insertion forces were observed with the hand system.

Conclusions:

The developed peg-in-hole test enables systematic robotic manipulation benchmarking.
Robotic hands with active control offer a viable solution for complex insertion tasks.
Highly articulated and sensorized hands are key for advanced robotic manipulation.