Yao Tu

Hydrodynamic Optimization of a Spherical Amphibious Robot's Paddle-Wheel for Effective Water Surface Locomotion

Bi-directional Cable-driven Ankle Exoskeleton Coupled with Series Elastic Actuator for Compliant Gait Assisting*

This paper presents a lightweight bidirectional cable-driven ankle exoskeleton system (total mass: 2.6 kg) based on a series elastic actuation architecture (actuator module mass: 1.05 kg). The system utilizes a waist-mounted drive unit and Bowden cables to deliver bidirectional assistance to the ank