Robotic leg prostheses and exoskeletons have traditionally been designed using highly-
geared motor-transmission systems that minimally exploit the passive dynamics of human …

Computational biology and physiology is an interdisciplinary endeavour, requiring input
from biologists, physiologists, mathematicians, chemists, engineers and clinicians. These …

Previous studies of robotic exoskeletons and prostheses with regenerative actuators have
focused on level-ground walking. Here we analyzed the lower-limb joint mechanical power …

In this paper, we investigate energy-optimal control of robots with ultracapacitor-based
regenerative drive systems. Based on a previously introduced framework, a fairly generic …

The paper considers a generic model for a turbofan engine coupled to electromechanical
(EM) elements used for energy conversion and storage in electric form. The …

This volume is dedicated to Prof. Vsevolod M. Kuntsevich, Academician of the National
Academy of Sciences of Ukraine (NASU), President of the National Committee of the …

Individuals with an above-knee (AK) amputation typically use passive prostheses, whether
reactive (microprocessor) or purely mechanical. Though sufficient for walking, these …

This paper investigates the fuzzy real-time multi-objective optimization of a combined test
robot/transfemoral prosthesis system with three degrees of freedom. Impedance control …

Robotic leg prostheses and exoskeletons can provide powered locomotor assistance to
older adults and/or persons with physical disabilities. However, limitations in automated …

An impedance-based control scheme is introduced for cooperative manipulators grasping a
rigid object. The position and orientation of the payload are to be maintained close to the …