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 …

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 …

In this paper, a manipulator is proposed for safe human-robot interaction at high speed. The
manipulator has both low mass and inertia and high stiffness and strength. It is basically a …

Clutches can be used to enhance the functionality of springs or actuators in robotic devices.
Here we describe a lightweight, low-power clutch used to control spring engagement in an …

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 …

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 …

Theoretical studies suggest and experimental evidence confirms that maintaining and
changing human joint stiffness by coactivated antagonistic muscles are metabolically …

Multiobjective particle swarm optimization (MOPSO) algorithms have attracted much
attention for their promising performance in solving multiobjective optimization problems …

This paper proposes a real-time balance control technique that can be implemented to
bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable …