Exoskeleton technology has made significant advances during the last decade, resulting in
a considerable variety of solutions for gait assistance and rehabilitation. The mechanical …

Despite the increasing interest in using powered ankle-foot orthoses for assistive purposes,
their development and benchmarking still present core challenges. Powered orthoses have …

Compliant actuators are increasingly being designed for wearable robots (WRs) to more
adequately address their issues with safety, wearability, and overall system efficiency. The …

Background In the last decades, several powered ankle-foot orthoses have been developed
to assist the ankle joint of their users during walking. Recent studies have shown that the …

Background: Robotic devices have been used to rehabilitate walking function after stroke.
Although results suggest that post-stroke patients benefit from this non-conventional therapy …

The ankle joint is the main contributor in providing support to the body, ensuring forward
progression and initiating the swing of the leg during the push-off phase of walking …

This paper presents design of a novel modular lower-limb gait exoskeleton built within the
FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a …

In this paper we present the design and characterization of a novel Passive Variable
Stiffness Joint (pVSJ). pVSJ is the proof of concept of a passive revolute joint with …

The field of wearable devices and exoskeletons for rehabilitation and assistance is one of
the main fields where variable stiffness actuators (VSAs) are continuously incorporated. This …

The human ankle joint plays a crucial role during walking. At the push-off phase the ankle
plantarflexors generate the highest torque among the lower limb joints during this activity …