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Conceptual design of a fully passive transfemoral prosthesis to facilitate energy-efficient gait
(IEEE, 2018-12)
In this paper, we present the working principle and conceptual design toward the realization of a fully-passive transfemoral prosthesis that mimics the energetics of the natural human gait. The fundamental property of the ...
Design of bio-joint shaped knee exoskeleton assisting for walking and sit-to-stance
(Springer Nature, 2019)
In this study, a bio-joint shaped knee joint exoskeleton is presented. This design is meant for avoiding misalignment of the exoskeleton joint with the biological knee joint. For this purpose a cam mechanism has been ...
A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
(IEEE, 2021)
Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, ...
Simulation-based design and locomotion control implementation for a lower body exoskeleton
(IEEE, 2022)
This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while ...
HandMECH—Mechanical hand prosthesis: Conceptual design of a two degrees-of-freedom compliant wrist
(Springer, 2022)
A compliant wrist joint is important for positioning the hand in different positions to perform various daily tasks. It is also important that the wrist is able to achieve sufficient range of motion (RoM). The RoM is ...
HandMECH—Mechanical hand prosthesis: Conceptual design of the hand compartment
(Springer, 2022)
In this study, conceptual design of the hand compartment of a body-powered hand prosthesis, HandMECH, is presented. HandMECH is a body-powered prosthesis and the hand compartment is designed according to human finger size ...
Transdisciplinarity as a learning challenge: Student experiences and outcomes in an innovative course on wearable and collaborative robotics
Contribution: This study provides evidence for the
benefit of short online courses for transdisciplinary competence
development of graduate students. It shows the significant challenges students face while learning, and ...
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
(IEEE, 2022)
This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ...
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
(IEEE, 2019-06)
In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ...
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