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 …

Soft robot arms offer safety and adaptability due to their passive compliance, but this
compliance typically limits their payload capacity and prevents them from performing many …

During the last two decades, a large variety of upper limb exoskeletons have been
developed. Out of these, majority are platform based systems which might be the reason for …

This paper discusses design and control of a prismatic series elastic actuator with high
mechanical power output in a small and lightweight form factor. A design is introduced that …

This work presents the concept of tele-impedance as a method for remotely controlling a
robotic arm in interaction with uncertain environments. As an alternative to bilateral force …

Robots with legs and arms have the potential to support humans in dangerous, dull or dirty
tasks. A major motivation behind research on such robots is their potential versatility …

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and
dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to …

The electrohydraulic elastic manipulator (EEM) includes an electrohydraulic servo system
and a variable stiffness mechanism. It is a complex system with nonlinear elements, such as …

In this paper, we consider the design of tracking controllers for flexible joint robots with
unknown and possibly variable elasticity, achieving pre-set performance attributes on the …

The field of exoskeletons and wearable devices for walking assistance and rehabilitation
has advanced considerably over the past few years. Currently, commercial devices contain …