Home-Che Yen

Papers

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About

Home-Che Yen is a leading figure in the field of robotic mechanisms, with a particular focus on the design and analysis of tendon-driven systems. His work bridges mechanical engineering and robotics, addressing the critical challenges of flexibility and compliance in actuation. Yen’s most-cited paper, "Kinematic and compliance analysis for tendon-driven robotic mechanisms with flexible tendons" (2005, 34 citations), provides foundational insights into how tendon elasticity affects the motion and force transmission in robotic hands and manipulators. This contribution is essential for developing more dexterous, adaptive, and safe robots, especially in applications like prosthetics and human-robot interaction. By modeling the complex interplay between tendon tension, joint kinematics, and structural compliance, Yen’s research enables engineers to predict and optimize the performance of flexible robotic systems. His work has influenced subsequent studies in soft robotics and bio-inspired design, earning him recognition among peers for its theoretical rigor and practical relevance. For students and researchers exploring the mechanics of compliant actuation, Yen’s analyses remain a key reference point.