The main problem with designing prostheses is the ability to assess newly manufactured
devices on patients under unsafe conditions. Some of the issues that obstruct the testing …

Objective: We design an optimal passivity-based tracking/impedance control system for a
robotic manipulator with energy regenerative electronics, where the manipulator has both …

This paper develops a novel regressor-free robust controller for rigid robots whose dynamics
can be described using the Euler-Lagrange equations of motion. The function approximation …

This volume is dedicated to Prof. Vsevolod M. Kuntsevich, Academician of the National
Academy of Sciences of Ukraine (NASU), President of the National Committee of the …

This paper investigates the fuzzy real-time multi-objective optimization of a combined test
robot/transfemoral prosthesis system with three degrees of freedom. Impedance control …

The focus of this research is to consider control and energy regeneration for a robotic
manipulator with both actively and semi-actively controlled joints. The semi-active joints are …

The paper considers the problem of controlling a novel hydraulic actuator to be used in a
transfemoral (above-knee) prosthesis. The control objective is tracking of knee angle …

The objective of this work is to relate muscle effort distributions to the trajectory and
resistance settings of a robotic exercise and rehabilitation machine. Muscular effort …

The Robogymnast is a triple link underactuated pendulum that mimics a human gymnast
hanging from a horizontal bar. In this paper, two multi-objective optimization methods are …

A novel control method for an active transfemoral prosthesis is developed based on the
combination of two previously published controllers, robust tracking/impedance control and …