Locking devices are widely used in robotics, for instance to lock springs and joints or to
reconfigure robots. This review article classifies the locking devices currently described in …

Lower body wearable robots, or lower limb exoskeletons, have developed rapidly in the past
decade. These devices can be separated into three different categories: assistive …

Robotic leg prostheses promise to improve the mobility and quality of life of millions of
individuals with lower-limb amputations by imitating the biomechanics of the missing …

We present a lightweight robotic knee prosthesis with a novel hybrid actuation system that
enables passive and active operation modes. The proposed hybrid knee uses a spring …

Amputation at the above-knee level severely impairs the ability of an individual to ambulate.
As ambulation requires power generation and active control of movements, the passive …

This paper presents the design and validation of a novel lower limb prosthesis called the
variable stiffness foot (VSF), designed to vary its forefoot stiffness in response to user activity …

Goal: To provide an overview of control strategies in commercial and research
microprocessor-controlled prosthetic knees (MPKs). Methods: Five commercially available …

The bi-articular m. gastrocnemius and the mono-articular m. soleus have different and
complementary functions during walking. Several groups are starting to use these biological …

Sensors and actuators are the core components of all mechatronic systems used in a broad
range of diverse applications. A relatively new and rapidly evolving area is the one of …

This paper describes how parallel elastic elements can be used to reduce energy
consumption in the electric-motor-driven, fully actuated, Sandia Transmission-Efficient …