The lower extremity exoskeletons (LEE) are used as an assistive device for disabled people,
rehabilitation for paraplegic, and power augmentation for military or industrial workers. In all …

The science and technology of wearable robots are steadily advancing, and the use of such
robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of …

Most current hip exoskeletons emphasize assistance for walking rather than stability. The
goal of this paper is to develop a novel, high-power, self-balancing, and passively and …

This article presents a state-of-the-art survey on the robotic systems, sensors, actuators, and
collaborative strategies for physical human-robot collaboration (pHRC). This article starts …

In this letter, we propose an electromyography (EMG)-based optimal control framework to
design physical human-robot interaction for rehabilitation and develop a novel assist-as …

This paper presents a novel rotational serial variable stiffness actuator (SVSA) based on an
Archimedean spiral relocation mechanism (ASRM), which is applied to linearly change the …

The lower-limb assist exoskeleton plays the role of torque assiting and compliant tracking for
wearers to perform tasks. Accurate torque generation, backdrivability performance, low …

Exoskeleton robots are an exciting potential solution for patients with motor dysfunction to
restore their daily activities. This letter introduces a variable stiffness exoskeleton robot (VSA …

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 …

Real-time recognition of locomotion-related activities is a fundamental skill that a controller
of lower limb wearable robots should possess. Subject-specific training and reliance on …