The CYBERLEGs Beta-Prosthesis is an active transfemoral prosthesis that can provide the
full torque required for reproducing average level ground walking at both the knee and ankle …

A systematic review of the mechanical design of powered ankle–foot prostheses developed
from 2000 to 2019 was conducted through database and manual searches. A total of ten …

Driven by the desire of amputees to reduce their physical shortcomings, prosthetic feet
evolved from passive to propulsive bionic feet, actuated by different types of compliant …

A Body and/or Caudal Fin (BCF) fish modulate its body stiffness by mechanisms consisting
of antagonistic muscles. The mechanisms can be considered as Redundant Planar …

Due to the complexity of modeling and the strong transmission coupling, the rich
background of rigid actuator control has not been transferred to variable stiffness actuator …

There are different alternatives when selecting removable prostheses for below the knee
amputated patients. The designs of these prostheses vary according to their different …

Inspired by the bionic characteristics of ankle and calf skeletal muscles, a novel ankle-foot
prosthesis (AFP) with variable stiffness mechanisms (VSMs) is proposed to assist transtibial …

Background Here we present how the CYBERLEGs Beta-Prosthesis was modified with a
new control system to participate in the Powered Leg Prosthesis event, and to report on our …

In this paper, by using a biomechanical model of the human body, we prove that (1) due to
the existence of bi-articular muscles and compliant-elements, blind full-torque-compensation …

Position control of the mechanical structure with naturally limited stiffness is a common
problem. Moreover, the system is usually exposed to random exciting by the external force …