Neurologic injuries, such as stroke, spinal cord injuries, and weaknesses of skeletal muscles
with elderly people, may considerably limit the ability of this population to achieve the main …

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 …

Rehabilitation robots, by necessity, have direct physical interaction with humans. Physical
interaction affects the controlled variables and may even cause system instability. Thus …

A series elastic actuator (SEA) is a promising actuation method in force control applications
that intelligently interacts with environments. The SEA is characterized by a spring placed …

This paper discusses design and control of a prismatic series elastic actuator with high
mechanical power output in a small and lightweight form factor. A design is introduced that …

This paper discusses the actuator‐level control of Valkyrie, a new humanoid robot designed
by NASA's Johnson Space Center in collaboration with several external partners. Several …

In this paper, adaptive impedance control is proposed for a robot collaborating with a human
partner, in the presence of unknown motion intention of the human partner and unknown …

Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while
overcoming the availability and cost constraints of therapists. However, current orthosis …

Exoskeleton technology has made significant advances during the last decade, resulting in
a considerable variety of solutions for gait assistance and rehabilitation. The mechanical …

Underactuated, compliant, tendon-driven robotic hands are suited for deep-sea exploration.
The robust Ocean One hand design utilizes elastic finger joints and a spring transmission to …