Dr. Joseph Schimmels // Mechanical Engineering // Marquette University

Robert C. Greenheck Chair in Design and Manufacturing

Mechanical Engineering

Professor

Professional Preparation

Ph.D., 1991, Mechanical Engineering, Northwestern University
M.S., 1988, Mechanical Engineering, Northwestern University
B.S., 1981, Mechanical Engineering, Marquette University

Research Interests

Intelligent design of multi-dimensional mechanical behavior (kinematics and admittance/impedance) for application in physically interacting systems. Current applications include: robotics (e.g., force-guided assembly, grasping), prosthetics (bionic joints), manufacturing (e.g., fixturing, material removal), and vibration isolation (e.g., vehicle/seat suspension design)

Implementation of the appropriate linear and nonlinear multi-dimensional mechanical behavior through passive mechanism design, programmable (selectable or semi-active) passive mechanical component design, and active controller design

Publications

“Spatial Impedance Realization by Grasps with Fingers in Soft Contact”
Huang and J. M. Schimmels, Mechanisms and Machine Theory (April 2025), Vol. 206, 105910, doi: 10.1016/j.mechmachtheory.2024.105910

“Passive Realization of Object Spatial Compliance by a Hand Having Multiple 4-Joint Hard Fingers”
Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics (March 2025), Vol. 17, No. 3, 031004, doi: 10.1115/1.4066168

“Object Spatial Impedance Achieved by a Multi-Finger Grasp with Hard Point-Contact”
Huang and J. M. Schimmels, IEEE Transactions on Robotics, Vol. 40, doi:10.1109/TRO.2023.3335692

“Grasp Compliance Achieved with a Planar Hand Composed of Multiple 3-Joint Fingers”
Huang and J. M. Schimmels, Robotica (February 2023) Vol. 41, No. 2, doi:10.1017/S0263574722001448

“Requirements on the Spatial Distribution of Elastic Components Used in Compliance Realization”
Huang and J. M. Schimmels, IEEE Robotics and Automation Letters (October 2022), Vol. 7, No. 4, doi:10.1109/LRA.2022.3214052

“Planar Compliance Realized with a Hand Composed of Multiple 2-Joint Fingers”
Huang and J. M. Schimmels, Mechanisms and Machine Theory (July 2022), Vol. 173, 104847

“Planar Compliance Realization with Two 3-Joint Serial Manipulators Connected in Parallel”
Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics (October 2022), Vol. 14, No. 5, 051007

“Compliance Realization with Planar Serial Mechanisms Having Fixed Link Lengths”
Huang and J. M. Schimmels, ASME Journal of Mechanical Design (August 2022), Vol. 144, No. 8, JMD-21-1615, 083301

“The Relationship between Mechanism Geometry and the Centers of Stiffness and Compliance”
Huang and J. M. Schimmels, Mechanism and Machine Theory (January 2022), Vol. 167, 104565