Lower-limb biomechatronic devices (ie, prostheses and exoskeletons) depend upon
onboard batteries to power wearable sensors, actuators, and microprocessors, therein …

Robotic leg prostheses and exoskeletons have traditionally been designed using highly-
geared motor-transmission systems that minimally exploit the passive dynamics of human …

In this article, a control scheme of the flexible joint robot contacting with an unknown
environment is proposed to realize force tracking. Tracking performance is ensured by …

Because of distinct differences in structure and drive, the lower limb amputee that walks with
prosthesis forms a heterogeneous coupled dynamic system. The strongly coupled …

We propose a method for voltage stability assessment of power systems using a support
vector machine (SVM). We input the information from measurement signals to the SVM. The …

A new and effective control method is proposed for the hybrid position/force control of a
Stewart Manipulator (SM). The control approach can be divided into the two parts, the first is …

Powered lower-limb prostheses feature a high-level intelligent control system, referred to as
locomotion mode recognition (LMR), which enables seamless amputee-prosthesis …

Previous studies of robotic exoskeletons and prostheses with regenerative actuators have
focused on level-ground walking. Here we analyzed the lower-limb joint mechanical power …

Model-based impedance learning control can provide variable impedance regulation for
robots through online impedance learning without interaction force sensing. However, the …

One control challenge in prosthetic legs is seamless transition from one gait mode to
another. User intent recognition (UIR) is a high-level controller that tells a low-level controller …