6 accepted papers
This study presents a comprehensive experimental analysis of Twisted String Actuators (TSA), focused on enhancing contraction modelling accuracy and establishing a baseline for TSA tension and impedance control efficacy. A novel TSA string radius function is introduced, computing effective radii for
Prosthetic limb abandonment remains an unsolved challenge as amputees consistently reject their devices. Current prosthetic designs often fail to balance human-like performance with acceptable device weight, highlighting the need for optimised designs tailored to modern tasks. This study aims to pro…
This study addresses the critical need for diverse and comprehensive data focused on human arm joint torques while performing activities of daily living (ADL). Previous studies have often overlooked the influence of objects on joint torques during ADL, resulting in limited datasets for analysis. To
Markerless motion capture devices such as the Leap Motion Controller (LMC) have been extensively used for tracking hand, wrist, and forearm positions as an alternative to Marker-based Motion Capture (MMC). However, previous studies have highlighted the subpar performance of LMC in reliably recording…
Central Pattern generators (CPG) are a biologically inspired, decentralized control architecture that enables model-free, but yet adaptively stable and computational lightweight locomotion capabilities on complex robots. Nevertheless, no unified design guidelines for closed-loop CPG controllers are…
The human hand capabilities are paramount for highly dexterous manipulation interactions. Unfortunately, the limitations of current technologies make replicating such capabilities unfeasible. Although several works have focused on directly attempting to create robot hands able to mimic human ones cl