4 accepted papers
Powered knee prostheses promise to improve the mobility of transfemoral amputees by imitating the biomechanics of the missing knee joint. Unfortunately, the heavy weight and short battery life severely limit the application of powered prostheses. Here, we present a lightweight powered knee prosthesi
Soft pneumatic actuators often struggle to achieve both a high degree of freedom and high bending stiffness simultaneously. In this letter, we present a bionic soft pneumatic actuator inspired by the intricate musculature of the elephant trunk, which employs a dual actuation mode of transverse-longi
This letter presents the design and development of a novel compact motor-based non-linear stiffness soft actuator used for tendon-driven joints, i.e. a magnet-integrated soft actuator (MISA). By applying a pair of antagonistic MISAs to a joint, it is capable of achieving joint stiffness adjustment a
A hybrid knee prosthesis is proposed in this letter, which consists of a polycentric structure in passive mode for low-torque activities and a single-axis structure in active mode for high-torque activities. A novel mode transition mechanism controls self-holding electromagnets for switching modes b