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 …

Human body enhancement is an interesting branch of robotics. It focuses on wearable
robots in order to improve the performance of human body, reduce energy consumption and …

User preference is a promising objective for the control of robotic exoskeletons because it
may capture the multifactorial nature of exoskeleton use. However, to use it, we must first …

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 …

Human locomotion involves continuously variable activities including walking, running, and
stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and …

High-performance actuators are crucial to enable mechanical versatility of wearable robots,
which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of …

Gait rehabilitation is essential for chronic stroke patients to regain independent walking
ability and quality of life, of which symmetry is regarded as a gold standard of gait quality. In …

Misalignments between powered exoskeleton joints and the user's anatomical joints are
inevitable due to difficulty locating the anatomical joint axis, non-constant location of the …

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 …

Back injuries are the most prevalent work-related musculoskeletal disorders and represent a
major cause of disability. Although innovations in wearable robots aim to alleviate this …