Ageing population is now a global challenge, where physical deterioration is the common
feature in elderly people. In addition, the diseases, such as spinal cord injury, stroke, and …

Traditional robotic foot and ankle have received considerable attention for adaptive
locomotion on complex terrain and land buffering ability. This study aims to develop a …

The physical characteristics of animals' bodies are substantially different from those of
classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …

Embodiment is a crucial concept for the autonomy and adaptivity of systems working in the
physical world with high degrees of uncertainty and complexity. The physical bodies of …

This paper provides a detailed analysis of the power and mechanical/electrical energy
consumption of Series Elastic Actuators (SEAs) and Parallel Elastic Actuators (PEAs). The …

Parallel passive-elastic elements can reduce the energy consumption and torque
requirements for motors in powered legged systems. However, the hardware design for such …

The development and control of variable stiffness actuators (VSAs) led to the capability of
embodying physical principles of safety and energy-efficiency compared to traditional stiff …

Direct-drive motors (DDMs) have been increasingly used for robot actuation because they
provide high-fidelity torque control, but they typically have low torque density. Gearing can …

We present the development, modeling, and control of a three-degree-of-freedom
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …

Energy efficiency is a growing concern in today's mechatronic designs. In recent years,
many works have emerged presenting energy-efficient actuators with electrical motors …