Technological advancements have led to the development of numerous wearable robotic
devices for the physical assistance and restoration of human locomotion. While many …

This paper presents a review on design issues and solutions found in active lower limb
prostheses. This review is based on a systematic literature search with a methodical search …

Currently, the mobility of above-knee amputees is limited by the lack of available prostheses
that can efficiently replicate biologically accurate movements. In this study, a powered knee …

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 …

This paper aims to develop a knowledge base and identify the promising research pathways
toward designing lower limb prostheses for optimal biomechanical and clinical outcomes. It …

This paper presents a gait phase detection algorithm for providing feedback in walking with
a robotic prosthesis. The algorithm utilizes the output signals of a wearable wireless sensory …

This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …

Actuators that employ clutches can exhibit mechanical impedance tuning and improved
energy efficiency. However, these integrated designs have been difficult to achieve in …

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 …

In the past decades, researchers have deeply studied pathological and nonpathological gait
to understand the human ankle function during walking. These efforts resulted in the …