One step on the way to approach human performance in robotics is to provide joint torque
sensing and control for better interaction capabilities with the environment, and a large …

Locking devices are widely used in robotics, for instance to lock springs and joints or to
reconfigure robots. This review article classifies the locking devices currently described in …

Electric motors are widely used in robots but waste energy in many applications. We
introduce an elastic energy-recycling actuator that maintains the versatility of motors while …

Currently, the mobility of above-knee amputees is limited by the lack of available prostheses
that can efficiently replicate biologically accurate movements. In this study, a powered knee …

The development and control of variable stiffness actuators (VSAs) led to the capability of
embodying physical principles of safety and energy-efficiency compared to traditional stiff …

The science and technology of wearable robots are steadily advancing, and the use of such
robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of …

The cyclic and often linear torque-angle relationship of locomotion presents the opportunity
to innovate on the design of traditional series-elastic actuators (SEAs). In this paper, a novel …

A link extends between a distal member and a proximal member of a wearable device, such
as an exoskeleton, orthosis or prosthesis for a human lower limb. One or other of the distal …

Direct-drive motors (DDMs) have been increasingly used for robot actuation because they
provide high-fidelity torque control, but they typically have low torque density. Gearing can …

Parallel elastic actuators (PEAs) have shown the ability to reduce the energy consumption of
robots. However, regular PEAs do not allow us to freely choose at which instant or …