Actuator With Angle-Dependent Elasticity for Biomimetic Transfemoral Prostheses
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Exoskeletal systems are becoming a rehabilitation standard of care for persons with lower limb paralysis. As muscular dysfunctions affect a heterogeneous patient group, each individual develops their own strategy to negotiate everyday locomotion challenges ...
Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...
2019
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Compliant mechanisms are of great interest in precision engineering. In this paper we propose a higher order continuation method to help their rigid-body kinematic design. The method helps to investigate the choice of a mechanism configuration through the ...
Elsevier2017
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This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...
Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...
This paper investigates sensorimotor adaptation strategies of sagittal postural control in healthy subjects under kinematic constraints. A passive exoskeleton named CAPTUR, with locked ankle joints and legs motion restrained to the sagittal plane is used t ...
Underactuated systems offer compact design with easy actuation and control but at the cost of limited stable con- figurations and reduced dexterity compared to the directly driven and fully actuated systems. Here, we propose a compact origamibased design i ...
2017
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Wearable assistive robotics is a modern field where intelligent actuated systems work in collaboration with the body to replace a lost limb, to enhance performances (e.g. carrying load, walking, running, jumping) or to train or rehabilitate specific activi ...
Springer-Verlag Berlin2016
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The estimation of joint kinematics from skin markers is hindered by the soft tissue artefact (STA), a well-known phenomenon although not fully characterized. While most assessments of the STA have been performed based on the individual skin markers displac ...
Elsevier2017
Minimally invasive surgery (MIS) is one of the most challenging techniques for robot designers due to the limited size of access points, the high miniaturization level, and the dexterity needed for performing surgical tasks. Conversely, only a few microfab ...