The number of patients with knee impairments caused by a stroke, spinal cord injury, post-
polio, injury, osteoarthritis, or other related diseases is increasing worldwide. Robotic …

The knee joint, as the main lower limb motor joint, is the most vulnerable and susceptible
joint. The knee injuries considerably impact the normal living ability and mental health of …

In this article, we present the design of a powered knee-ankle prosthetic leg, which
implements high-torque actuators with low-reduction transmissions. The transmission …

Powered exoskeletons can empower paraplegics to stand and walk. Actively controlled hip
ab/adduction (HAA) is needed for weight shift and for lateral foot placement to support …

Currently, the mobility of above-knee amputees is limited by the lack of available prostheses
that can efficiently replicate biologically accurate movements. In this study, a powered knee …

We present a lightweight robotic knee prosthesis with a novel hybrid actuation system that
enables passive and active operation modes. The proposed hybrid knee uses a spring …

State-of-the-art exoskeletons are typically limited by the low control bandwidth and small-
range stiffness of actuators, which are based on high gear ratios and elastic components …

The human ankle produces a large burst of 'push-off'mechanical power late in the stance
phase of walking, reduction of which leads to considerably poorer energy economy. It is …

This work presents an electrophysiologically and dynamically consistent musculoskeletal
model to predict stiffness in the human ankle and knee joints as derived from the joints …

This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …