Passive Joint Research Articles

Underactuated Dexterous Robotic Grasping With Reconfigurable Passive Joints

Underactuated Dexterous Robotic Grasping With Reconfigurable Passive Joints

Knee proprioception four months after anterior cruciate ligament reconstruction: impact of limb dominance, anterolateral procedure, and association with readiness to return to sport.

BackgroundKnee proprioception may be compromised after anterior cruciate ligament reconstruction (ACLR), but associated factors and impact remain unclear. This study evaluated knee proprioception 4 months after primary ACLR, compared with healthy controls, and explored the impacts of leg dominance, anterolateral procedures (AEAPs), and their association with psychological readiness to return to sports. MethodsThis prospective cohort study included 30 ACLR participants and 20 healthy controls. Isokinetic testing measured knee strength and proprioception, using passive joint position sense (JPS1: detection, JPS2: repositioning) and kinesthesia (threshold to detection of passive motion). At 8 months, ACLR participants completed the ACL-RSI scale to assess psychological readiness to return to sports. ResultsAt 4 months postoperative, kinesthesia was better in the operated limb than the non-operated limb (p= 0.008), but position sense did not differ significantly. There were no significant differences in kinesthesia or position sense between ACLR participants and controls. The operated limb had worse JPS2 if the ACLR was on the non-dominant side. Proprioception was unaffected by AEAPs, and only repositioning showed a moderate, non-significant correlation with ACL-RSI (r= -0.377). ConclusionAt 4 months post-ACLR, kinesthesia improved in the operated leg; dominance influenced position sense, highlighting the need for personalized rehabilitation.

Comparison of Maitland Passive Joint Mobilization and Self-Rehabilitation on Function, Activity, and Quality of Life in Beninese Patients With Hip Osteoarthritis: A Pragmatic Randomized Trial.

Orthopedic manual therapy is currently considered as an alternative approach for treating hip osteoarthritis. However, studies assessing its efficacy in low-income countries in Sub-Saharan Africa are scarce. Investigating the effectiveness of Maitland passive joint mobilization (Maitland PJM) compared to self-rehabilitation in patients with hip osteoarthritis in Benin, a low-income country, in Sub-Saharan Africa. This was a pragmatic, single-blind, two-arm randomized trial involving 66 participants randomly assigned into two groups (Maitland PJM group, n=33, and self-rehabilitation group, n=33). Both interventions took 5weeks. The primary outcome (pain) was evaluated using numerical rating scale. Secondary outcomes (passive hip range of motion, muscles strength, walking, and quality of life) were assessed using goniometry, medical research council, 10m walk test, and short-form 36. Participants were assessed at baseline, after interventions and 3-month follow-up. Forty-nine patients (Maitland PJM group, n=22, self-rehabilitation, n=27) completed the sessions. Within-group analyses showed a significant improvement in body function, walking speed, and quality of life (p<0.05) after interventions and at 3-month follow-up within both groups. No significant differences in any outcomes were observed between the Maitland PJM and self-rehabilitation groups, after interventions and at the 3-month follow-up (p>0.05). Maitland passive joint mobilization and self-rehabilitation similarly improved function, walking speed, and quality of life in Beninese patients with hip osteoarthritis. PACTR201911553990405.

Non-Traumatic Shoulder Pain Affects Proprioception and Dynamic Stability in Female High School Volleyball Players.

Nontraumatic shoulder pain (NSP) is common in volleyball, affecting performance and well-being. It is more prevalent in female players. Previous studies lack comprehensive assessments of shoulder pain that consider multiple factors, including range of motion, muscle strength, joint position sense, dynamic stability, and volleyball-specific mechanics. To investigate NSP prevalence in female high school volleyball players, considering shoulder joint functional parameters and volleyball-specific factors. Cross-sectional study. High school gymnasiums. Fifty-nine female high school volleyball players (15-17 years). Demographic data, environmental factors (years of experience, spiking technique, serve type), shoulder joint function (passive glenohumeral joint's range of motion, muscle strength, joint position sense, dynamic stability), and NSP prevalence during spiking and serving. Logistic regression analysis was conducted to identify significant factors associated with NSP. NSP prevalence was 54.2%, with 68.8% not informing coaches. Significant associations were found between NSP and factors such as Upper Quarter Y-Balance Test-Medial (p=0.008; odds: 0.892; 95% CI, 0.82-0.97) and joint position sense of internal rotation (p=0.031; odds: 1.411; 95% CI, 1.03-1.93). Shoulder pain leads to impaired proprioception and dynamic stability. Effective communication between players and coaches is crucial for managing and preventing pain. Targeted training programs to enhance proprioception and dynamic stability may reduce shoulder pain and injuries. Educating players on the importance of reporting pain and encouraging early intervention is essential.

Test–retest reliability and validity in lower limb proprioception tests using image capture technique in healthy adults

BackgroundProprioceptive assessments in clinical practice remain confined to ordinal scales, with a lack of ratio scales. Quantitative proprioception assessments such as threshold to detect passive motion (TDPM) and joint position sense (JPS) help determine the severity of functional impairments and evaluate treatment efficacy. However, their clinical introduction remains challenging due to the extensive and costly equipment required for their measurement.PurposeTo investigate the test–retest reliability and validity in the simplified TDPM and JPS using 14 image capture techniques in targeting hip, knee, and ankle joints.MethodsThis study included 16 volunteers. The measurements were conducted in individual rehabilitation rooms located within the wards of our hospital. Examiners measured a total of 12 TDPM and JPS, including hip, knee, and ankle joints, each performed three times. Moreover, the multi-joint TDPM, distinguished into lower limb flexion and extension patterns, was additionally performed. These measurements were repeated 1 week later. In statistical analysis, the test–retest reliability and construct validity were evaluated using intraclass correlation coefficients (ICC) and Spearman’s rank correlation coefficients.ResultsThe TDPM, multi-joint TDPM, and JPS (variable data; VE) demonstrated moderate reliability across all tested movement directions (TDPM: ICC 0.52–0.70, limits of agreement [LOA] < 10°; multi-joint TDPM: ICC 0.64–0.73, LOA < 10°; JPS: ICC 0.55–0.78, LOA < 10°). No significant correlation was observed between these tests.ConclusionsTDPM and JPS using image capture techniques can reliably measure proprioception and serve as independent tests to evaluate different aspects of proprioception. These findings contribute to future studies aimed at introducing quantitative proprioception tests into clinical practice and facilitating clinical decision-making for rehabilitation targeting proprioceptive impairment.

EMG-assessed paratonia: A novel approach to investigating motor response inhibition in healthy subjects.

Paratonia is an involuntary muscle activity that occurs during passive joint mobilization and is common in people with dementia. It includes oppositional paratonia, in which muscle activity resists passive movement, and facilitatory paratonia, in which it assists movement. This phenomenon reflects a defect in motor response inhibition. In a recently published paper, we demonstrated that paratonia can be detected using surface electromyography (EMG) not only in patients with dementia but also in healthy individuals, the majority of whom do not exhibit clinically observable paratonia. This finding suggests that EMG-assessed paratonia may provide a novel approach to studying motor response inhibition in healthy subjects. The present study investigates this possibility for the first time. We recruited 120 healthy subjects under the age of 30, divided equally into three groups: sedentary, amateur, and professional athletes with low, moderate, and high levels of physical activity, respectively. Paratonia was assessed in the triceps and biceps brachii muscles during passive forearm movements performed manually. The results indicate that paratonia is more pronounced during fast and continuous passive movements, with facilitatory paratonia being more prevalent than oppositional paratonia. It is also more pronounced in the biceps than in the triceps. These findings, which mirror those previously observed in patients with dementia, suggest a similarity between paratonia in healthy subjects and those with cognitive impairment, supporting the hypothesis that paratonia in healthy individuals represents a form of impaired motor response inhibition. Furthermore, the comparison between groups showed that paratonia decreased with increasing physical activity, being least evident in athletes, more noticeable in amateurs, and most pronounced in sedentary individuals. This pattern confirms a key feature of motor response inhibition that has been shown in studies using traditional methods. Overall, our findings suggest that EMG-assessed paratonia provides a new method for studying motor response inhibition in healthy individuals.

Navigated and minimally invasive screw osteosynthesis of atalus fracture

The aim of this surgery is to safeguard the multifragmentary and nondisplaced talus fracture (body and neck) against secondary dislocation in anavigated and minimally invasive manner using screw osteosynthesis. Due to the young age of the patient in the presented case and the risk of apossible secondary dislocation, the decision was made in favor of surgical treatment. Soft tissue swelling, wound infections and allergies to the osteosynthesis material. The video is available online (in English) and shows the individual surgical steps in detail. Preoperative computed tomography (CT) imaging and screw planning. Attachment of the reference array. 1) Cone beam CT (CBCT) scan, image fusion and fusion control. Planning of the minimally invasive skin incisions. Skin incision, navigated drilling and insertion of the K‑wires. 2) CBCT scan and position check of the K‑wires, fine adjustment if necessary. Insertion of the screws. 3) CBCT scan with subsequent position check of the screws, retightening of the screws if necessary. Performed in the Robotic Suite (Brainlab, Munich, Germany) using the following elements: navigation unit curve navigation system, movable robotic 3D CBCT, "Loop-X" and wall monitor "BUZZ". Postoperative X‑ray and CT to control the position of the implants. Partial weight-bearing of the foot with 10 kg sole contact for 6weeks. Physiotherapy with active and passive joint mobilization. Thrombosis prophylaxis with enoxaparin sodium. Optional implant removal after approximately 1year. Navigated operations are routine, so far mainly in the area of the spine. This article shows that navigated extremity surgery can be successfully performed in hybrid operating theaters.

Three degrees of freedom rigid-soft coupling biomimetic hip joint driven by dielectric elastomer

Abstract Dielectric elastomer (DE) has an attractive combination of high energy density, large strain, and fast response. A growing number of DE actuators are being used as driving materials in rigid-soft coupling joints. For better structural design, the mapping relations from the musculoskeletal system of the human hip joint to the biomimetic hip joint mechanism have been established. Inspired by the human musculoskeletal system, the configuration of the three-degree-of-freedom rigid-soft coupling hip joint based on DE is proposed. The configuration includes six soft-driving limbs and one passive rigid limb. The soft-driving limb driven by the fiber-constrained dielectric elastomer actuator (FCDEA) does not contain passive rigid joints. Based on the Gent material model, the electromechanical coupling model of FCDEA is established. A mapping model is established between the voltage applied to the soft-driving limb of the biomimetic hip joint and the posture of the moving platform in the case of deflection and torsion. A single FCDEA is prepared and its electro-responsive deformation performance is tested through experiments. As a demonstration, a prototype of the biomimetic hip joint is developed. After applying voltage, the deflection angle and the torsion angle of the biomimetic hip joint are tested and the curve of voltage and rotation angle is drawn. The experimental results agree well with the theoretical predictions. This article can provide theoretical references for improving the performance of rigid-soft coupling hip joints.

Influence of Stretch Speed and Arousal State on Passive Ankle Joint Mechanics.

Studies investigating the mechanisms influencing maximum passive joint range of motion (ROMmax) and stiffness have not objectively assessed the possible influence of stretch speed and/or arousal state. The purpose of this study was to assess the effects of arousal state and stretch speed on healthy individuals ROMmax, stiffness, gastrocnemius medialis, and soleus electromyographic activity (EMG). Fourteen participants performed one familiarization and then one testing session on separate days in the laboratory. In the familiarization (Session 1), participants practiced fast (30°/s ankle dorsiflexion) and slow (5°/s) plantar flexor stretches on an isokinetic dynamometer with the knee extended. In the experimental session (Session 2), they performed two slow, then two fast, stretches under three randomized arousal conditions: control (no music), arousing, and relaxing music. Dorsiflexion ROMmax, ankle joint stiffness, muscle activity during stretch, mean heart rate, and perception of arousal were measured. Perception of arousal was greater in the arousing than relaxing condition (p = 0.001). ROMmax was greater during fast (69.1° ± 7.8°) than slow stretches (64.9° ± 10.8°; p = 0.002) with no effect of arousal. Stiffness and EMG were higher at faster speeds, with a significantly greater percentage of stiffness observed in the arousing than the other conditions during faster stretches (p = 0.04). ROMmax was greater at the faster stretch speed despite greater stiffness and muscle activities being produced during the stretch. Thus, despite reflexive muscle activity and viscosity being higher during faster stretches, a greater, not lesser, ROMmax was observed. Arousal state, at least when altered by music, did not seem to affect ROMmax but somewhat influenced stiffness in the faster stretches.

Early pain findings in infants with brachial plexus birth injury: Relationship with function and comorbidities, and cut-off point for fractures

BackgroundInfants with birth brachial plexus injury (BPBI) may have various comorbidities such as fractures, torticollis, plagiocephaly, central nervous system disorders. In infants with BPBI, it is important to identify fractures, which are common among comorbidities, objectively assess pain, and investigate factors that may be associated with pain. AimThe aim of this study is to determine the pain level, comorbidities, and motor function in infants with BPBI and to examine the relationship between these parameters. The second aim is to determine the cut-off value of the pain score that may be a sign of fracture in patients with BPBI, in order to suspect and predict a fracture in the shoulder region and to request additional examinations. Subjects and measurements59 infants with BPBI aged 15–90 days were included in the study. Comorbidities, active joint movements, and total upper extremity function assessed with the Active Movement Scale and pain scores measured with the FLACC Pain Scale were retrospectively analyzed. In addition, pain, comorbidities and motor function were investigated according to types of Narakas, which indicates the degree of nerve injury. ResultsOf the 59 participants, 18 (30.5 %) had at least one comorbidity and 12 (20.3 %) had fractures. The number of comorbidities (p = 0.41), the number of fractures (p = 0.84), and the level of pain (p = 0.71) did not differ by types of Narakas. There was a moderate negative correlation between pain level and upper extremity motor function in upper trunk injuries (p < 0.5, −0.67 < r < −0.46). There was a difference in pain level measured by palpation (p < 0.01) and passive joint movement (p < 0.01) in infants with and without comorbidities. To suspect a fracture in the shoulder region and to request further evaluation, the cut-off value of the Flacc pain level, which may predict a fracture, was 3.5 points for palpation and passive shoulder abduction and 4.5 points for passive external rotation. ConclusionThis is the first study in the BPBI to measure pain in infants using a quantifiable and widely used assessment. Pain level was ranked from high to low as infants with fractures, infants with comorbidities other than fractures and infants without comorbidities. Increased pain adversely affects motor function and pain above the cut-off values is a predictor of fracture.

Botulinum Toxin's Effects on Muscle Tone and Joint Mobility in Children with Congenital Zika Syndrome - A Case Series.

Objective To evaluate the effects of the botulinum toxin (BTX-A) on muscle tone and joint mobility in children with congenital Zika syndrome (CZS). Methods This was a longitudinal case series carried out in a Support Center for Children with Microcephaly, located in Northeastern Brazil. We collected data from the institution's medical records, containing information about muscle tone and passive joint mobility measured at least 3 months before and 4 weeks after BTX-A application. Results We evaluated 13 children (9 boys) with a mean age of 77 ± 7.1 months. After BTX-A application, a bilateral reduction in the hypertonia level was observed in the elbow flexor ( p < 0.01) and hip abductor ( p < 0.05) muscles. Conclusion No changes were observed in joint mobility and no adverse effects were reported by caregivers after application. The use of BTX-A can reduce hypertonia in CZS children, with no impact on joint mobility.

A Survey of Planar Underactuated Mechanical System

Planar underactuated mechanical systems have been a popular research issue in the area of mechanical systems and nonlinear control. This paper reviews the current research status of control methods for a class of planar underactuated manipulator (PUM) systems containing a single passive joint. Firstly, the general dynamics model and kinematics model of the PUM are given, and its control characteristics are introduced; secondly, according to the distribution position characteristics of the passive joints, the PUM is classified into the passive first joint system, the passive last joint system, and the passive intermediate joint system, and the analysis and discussion are carried out in respect to the existing intelligent control methods. Finally, in response to the above discussion, we provide a brief theoretical analysis and summarize the challenges faced by PUM, i.e., uncertainty and robustness of the system, unified control methods and research on underactuated systems with uncontrollable multi-passive joints; at the same time, the practical applications have certain limitations that need to be implemented subsequently, i.e., anti-jamming, multi-planar underactuated robotic arm co-control and spatial underactuated robotic arm system development. Aiming at the above challenges and problems in the control of PUM systems, we elaborate on them in points, and put forward the research directions and related ideas for future work, taking into account the contributions of the current work.

Soft Gecko-shaped Tail with Passive Auto-reset Joint Enhances the Locomotion in Gecko-inspired Climbing Robots

Soft Gecko-shaped Tail with Passive Auto-reset Joint Enhances the Locomotion in Gecko-inspired Climbing Robots

Relationship between the increase in range of motion after static stretching and passive stiffness and joint position sense

Relationship between the increase in range of motion after static stretching and passive stiffness and joint position sense

Hip joint kinematic assessment in chronic non-specific low back pain patients. A Delphi study

BackgroundChronic nonspecific low back pain (CNSLBP) has been associated with movement impairment (MI) of the hip joint. However, evidence supporting this is inconsistent.Agreement from experts may provide rationale and recommendations for the assessment of the hip joint in the management of CNSLBP patients. ObjectiveGain expert consensus on whether hip MIs are related to CNSLBP, whether they should be assessed and which movement types and directions they recommend. MethodsThrough a three-round e-Delphi process, international experts in the field rated levels of agreement for generated themes pertaining to assessing proposed hip joint MI in individuals with CNSLBP and underlying rationales. Consensus was defined a priori as ≥75% ratings on Likert scales with an IQR≤ 1. ResultsInternational expert panel consisted of a mix of researchers and clinicians with the majority involved in both. Response for round I was 27, round 2 was 21 and round III was 26 individuals.Consensus was achieved for the association of active and passive hip joint MI in CNSLBP and their assessment. 100% agreement was achieved for the rationale regarding compensatory movement of the lumbar spine, and the assessment of passive hip movements, in particular extension. Consensus was also achieved for assessing hip passive flexion, extension, rotations, and abduction, active flexion, extension, and abduction. No agreement was attained regarding passive accessory movement. ConclusionThe assessment of active and passive hip joint MI is regarded by experts as appropriate and informative in the management of and research pertaining to CNSLBP.

The Pericoracoid Tissue Release in Children With Brachial Plexus Birth Injury

In brachial plexus birth injury (BPBI), children with upper trunk injuries have multidirectional movement deficits, including global abduction and hand-to-neck, hand-to-abdomen, and hand-to-spine movements. The aim of this study was to evaluate the results of pericoracoid tissue release and postoperative structured physiotherapy as a first-step intervention to reduce the multidirectional movement deficit in children with BPBI. Thirty-four children with BPBI underwent pericoracoid tissue release, including coracohumeral and coracoacromial ligament release, pectoralis minor release, and coracoid process osteotomy. Patients were followed up with regular physiotherapy and a home exercise program for 1 year after surgery. Before surgery and at 3 and 12 months after surgery, upper-extremity function was measured using the modified Mallet classification and Active Movement Scale, passive shoulder and elbow joint movements were measured using goniometry, and the difference in the distance between the treatment table and the acromion was measured. There was an improvement in all movement tasks evaluated with modified Mallet classification, and there was increased shoulder flexion, abduction, and external and internal rotation movements as evaluated with Active Movement Scale. Increased passive joint movements were noted in abduction, external rotation, and internal rotation movements with the arm next to the body and with the limb in 90° abduction. There was a decrease in the distance difference between the acromion and the treatment table between both sides. Pericoracoid tissue release provided multidirectional improvement in shoulder joint movements in children with BPBI. Therapeutic IV.

Development of Self-Powered Prosthetic Finger with Pneumatic Passive Joints for Distal Interphalangeal Joint Amputees

Myoelectric prosthetic hands and fingers with grasping functions have challenges such as weight, cost, and grasping performance of flexible objects owing to the use of electric actuators. To resolve these problems, we propose a self-powered movable prosthetic finger using pneumatic pressure. This prosthetic finger utilizes the flexion/extension of the remaining finger of the user to drive a wire and flex or extend the finger joints. The use of a tendon (wire) and belt drives reduces the space occupied by the prosthetic finger unit compared with conventional linked prosthetic fingers. Furthermore, a sealed-air bellows is used for the joint for flexible grasping owing to passive variable-compliance and damping, which is impossible with only a tendon drive. These features have resulted in the stable grasping of various objects that are difficult to grasp using prosthetic fingers based on conventional technologies.

Exploration of the triceps surae muscle in ambulatory children with cerebral palsy using instrumented measurements of stiffness and diffusion tensor magnetic resonance imaging for muscle architecture

BackgroundMusculoskeletal alterations causing reduced range of motion of the ankle joint are common in children with cerebral palsy (CP). Objective measurements of passive joint resistance and three-dimensional skeletal muscle volume and muscle architecture can lead to a comprehensive understanding of which factors influence joint range of motion.Research questionTo investigate the relation between the passive dorsiflexion of the ankle joint, biomechanical contributing factors to the passive joint resistance, and muscular architectural properties of the triceps surae muscle in children with CP.MethodsIn this cross-sectional observational study, 14 children with spastic CP (bilateral: 5, unilateral: 9, Gross Motor Function Classification System (GMFCS) level I:11, II:3) naïve to intramuscular tone reducing treatment, and 14 TD children were included. The passive dorsiflexion of the ankle was measured with a goniometer. Passive joint resistance and related parameters were estimated based on a biomechanical model and measurements using a motorized device, the Neuroflexor. Three-dimensional muscle architecture was quantified with diffusion tensor magnetic resonance imaging (DT-MRI).ResultsIn the CP group, the median [min, max] passive dorsiflexion was decreased in the most affected leg (MAL) compared to the less affected leg (LAL) (2.5° [-25°, 20°] vs. 12.5° [5°, 30°], p = 0.001). The stiffness coefficient (Nm/rad) in the MAL was significantly higher in children with CP compared to TD children (7.10 [3.39, 62.00] vs. 2.82 [1.24, 10.46], p = 0.015). Muscle architecture properties did not differ between CP and TD, except for pennation angle in the medial gastrocnemius (MG) of the MAL (CP 17.64° (2.29) vs. TD 21.46° (3.20), p = 0.017). The stiffness coefficient, in the MAL, correlated negatively to passive dorsiflexion (rs=-0.638) and pennation angle in medial gastrocnemius (rs=-0.964), and the non-linear coefficient (Non-linear 1) correlated negatively to the fascicle length of the medial gastrocnemius (rs=-0.857).ConclusionThis study shows that stiffness of the plantarflexors is related to decreased passive dorsiflexion of the ankle and muscle structure of the MG in high-functioning children with spastic CP. Assessments of how dynamic components as well as microscopic muscle alterations contribute to joint stiffness in the plantarflexors in individuals with CP are warranted.Trial registrationRetrospectively registered in ClinicalTrials.gov, NCT05447299. Observational study. Study start: 2019-01-15, register date: 2022-07-01.

Combination of motor, sensory and affective tasks in an EEG paradigm for children with developmental disabilities

Individuals with neurodevelopmental disorders exhibit overlapping emotional, somatosensory and motor deficits. Although brain processes underlying these impairments have been extensively studied in a separate way, the brain interaction of these inputs is an innovative line of research. Here we present a new EEG methodology for exploring the interactive brain activity of sensorimotor and affective stimuli. The task consists in presenting affective stimuli of different modalities (e.g. affective pictures, affective touch) while simultaneously an arthromotor performs passive joint movements, unseen by the participant. Participants were then required to press one of two buttons to indicate if their joint position agreed with a picture shown in a screen. Pilot data of electroencephalography recordings revealed distinct somatosensory event-related potentials (SEP) when movement was subsequent to affective stimuli, compared to neutral stimuli, as well as a differentiation of SEPs for different neurodevelopmental conditions. Behavioral responses further showed that children with cerebral palsy had more errors to identify their hand position when they were exposed to affective stimuli. This paradigm is a valuable tool to explore the modulative influence of emotion in the sensorimotor brain processing of different populations with joint emotional and sensorimotor impairments, such as children with neurodevelopmental disorders or patients with stroke.•This method allows exploring the interaction between affective and sensoriomotor inputs in an EEG paradigm.

An Aerial Robot Achieving Bimodal Flight and Independent Attitude Control through Passive Morphing

Enhancing the adaptability and versatility of unmanned micro aerial vehicles (MAVs) is crucial for expanding their application range. In this article, a bimodal reconfigurable robot capable of operating in both regular quadcopter flight mode and a unique revolving flight mode is presented, which allows independent control of the vehicle's position and roll‐pitch attitude. This design incorporates passive revolute joints that enable seamless mid‐air transitions between the two modes, facilitated by centrifugal forces, without the need for additional actuators. In the regular mode, the robot operates with four vertical propellers, similar to conventional designs. In the revolving mode, the configuration shifts to two horizontal and two vertical propellers, achieving five degrees of freedom control with four actuators. This underactuated flight capability is made possible by exploiting the robot's fast revolving motion and the resulting cycle‐averaged forces and torques. Experimental validations confirm the feasibility and enhance the maneuverability of this design. The revolving flight mode provides significant advantages in applications such as mapping and confined space navigation.