3 accepted papers
This letter presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are proposed in this letter: 1) a new wearable str
We present a new type of hydrostatic transmission that uses a hybrid air-water configuration, analogous to N+1 cable-tendon transmissions, using N hydraulic lines and 1 pneumatic line for a system with N degrees of freedom (DOFs). The common air-filled line preloads all DOFs in the system, allowing
Ankle inversion-eversion compliance is an important feature of conventional prosthetic feet, and control of inversion, or roll, in robotic prostheses could improve balance for people with amputation. We designed a tethered ankle-foot prosthesis with two independently-actuated toes that are coordinat…