Lower-limb biomechatronic devices (ie, prostheses and exoskeletons) depend upon
onboard batteries to power wearable sensors, actuators, and microprocessors, therein …

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

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 …

Objective: We design an optimal passivity-based tracking/impedance control system for a
robotic manipulator with energy regenerative electronics, where the manipulator has both …

One control challenge in prosthetic legs is seamless transition from one gait mode to
another. User intent recognition (UIR) is a high-level controller that tells a low-level controller …

Alongside promising advances in biomechatronics, the following research presents the first
documented investigation reviewing the electromechanical system designs of energetically …

In this paper, we present the design of an electromechanical above-knee active prosthesis
with energy storage and regeneration. The system consists of geared knee and ankle …

Rather than traditional position control, impedance control is preferred to ensure the safe
operation of industrial robots programmed from demonstrations. However, variable stiffness …

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

A voltage source converter (VSC) is incorporated in an active prosthetic leg design. The
VSC supplies power to the prosthesis motor and regenerates energy from the prosthesis …