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 …

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

This work presents a reconfigurable variable stiffness actuator (RVSA) based on a rotational
spring mechanism (torsional spring) and a group of specially designed symmetrical S …

In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is
presented. The JVSR is designed with a compliant joint mechanism, and is able to vary …

Walking behaviour in amputees with lower-limb loss is absent from shock-absorbing
properties. A damper can be used to reduce the impact of ground reaction force (GRF) …

We present an actuator designed for untethered, lower-extremity powered-prostheses that
replicates biological kinetic and kinematic function of both human knees and ankles. An …

Compliant actuators are increasingly being designed for wearable robots (WRs) to more
adequately address their issues with safety, wearability, and overall system efficiency. The …

In this paper, an optimization problem for the energy minimization of a new robotic-type
three-axes above-knee prosthesis is carried out based on the actuator power consumption …

Driven by the desire of amputees to reduce their physical shortcomings, prosthetic feet
evolved from passive to propulsive bionic feet, actuated by different types of compliant …

Body weight support (BWS) systems are widely used in gait research and rehabilitation. This
letter introduces a new three-dimensional overground BWS system, called the RYSEN. The …