In this article, to improve the flexibility of the pneumatic actuator, a new pneumatic soft
bending actuator is designed to guarantee that it can bend in any direction in space. To …

This paper presents a study on the design and control of a novel soft-rigid lower limb
exoskeleton robot. First, based on anatomy, a novel exoskeleton structure design is …

This work presents a compliant rolling ellipsoidal carpometacarpal (CMC) joint for the thumb
of a robotic hand. This work is the first to introduce the biellipsoidal joint, a flexure hinge …

Exoskeletons have been developed to assist the rehabilitation of stroke patients in the
recent years. However, the safety of the physical human-robot interaction (pHRI) of the …

As control input saturation may severely affect control performance, we should pay more
attention to control input saturation for compliant robots owing to the limited output range of …