3 accepted papers
The observation of the anatomy of agile animals and their locomotion capabilities emphasizes the importance of fast and lightweight legs and confirms the intrinsic compliance integrated into muscle-tendon units as a major ingredient for energy efficient and robust locomotion. This quality is especia…
Rolling Diaphragm Hydrostatic Transmissions (RDHT) are high-performance low-cost solutions to delocalize heavy actuators away from the joints of robotic systems. Exploiting a low-cost pressure-based sensing technique, we propose here a Smith-predictor-based joint torque control of an RDHT-based actu
This paper introduces a novel hydrostatic air-liquid torque transmission system for an upper limb exoskeleton. The proposed design is based on remote electrical actuation, with grounded motors, combined with high performance fluid power transmission employed to deliver the power to the joints of the…