Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to
build passively compliant, robust, and dexterous robots. Numerous different hardware …

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 …

Transtibial (TT) amputations, or below-knee amputations, are among the most frequently
performed major limb removals. To replace the missing limb, numerous prosthetic devices …

Robotic prostheses have the potential to significantly improve mobility for people with lower-
limb amputation. Humans exhibit complex responses to mechanical interactions with these …

Goal: Technologies that augment human performance are the focus of intensive research
and development, driven by advances in wearable robotic systems. Success has been …

The muscles surrounding the ankle, knee and hip joints provide 42, 16 and 42%,
respectively, of the total leg positive power required to walk on level ground at various …

Background Robotic ankle-foot prostheses that provide net positive push-off work can
reduce the metabolic rate of walking for individuals with amputation, but benefits might be …

Human-in-the-loop optimization allows for individualized device control based on measured
human performance. This technique has been used to produce large reductions in energy …

A monoarticular series elastic actuator (SEA) reduces energetic and peak power
requirements compared to a direct drive (DD) in active prosthetic ankle-foot design …

Active exoskeletons have capacity to provide biologically equivalent levels of joint
mechanical power, but high mass of actuation units may lead to uncoordinated walking and …