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Joint injuries, and their long-term consequences, present a substantial global health burden. Wearable prophylactic braces are an attractive potential solution to reduce the incidence of joint injuries by limiting joint movements that are…
We consider the common problem setting of an elastic sphere impacting on a flexible beam. In contrast to previous studies, we analyze the modal energy distribution induced by the impact, having in mind the particular application of impact…
Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…
Tendon-driven hand orthoses have advantages over exoskeletons with respect to wearability and safety because of their low-profile design and ability to fit a range of patients without requiring custom joint alignment. However, no existing…
Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…
Cutting mechanics in soft solids have been a subject of study for several decades, an interest fuelled by the multitude of its applications, including material testing, manufacturing, and biomedical technology. Wire cutting is the simplest…
In orthodontic treatment, the biological response of the tooth, periodontal ligament, and bone complex to orthodontic force is crucial in influencing treatment outcomes. The challenge lies in accurately measuring, estimating, and predicting…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters.…
In this paper, gradient-based optimization methods are combined with finite-element modeling for improving electric devices. Geometric design parameters are considered by affine decomposition of the geometry or by the design element…
Woven shell structures are beneficial for applications requiring lightweight, damage resilience, and design tunability, such as in wearable devices, soft robotics, and aerospace systems. A fundamental component of woven structures is the…
Reliability theory is used to assess the sensitivity of a passive flexion and active flexion of the human lower leg Finite Element (FE) models with Total Knee Replacement (TKR) to the variability in the input parameters of the respective FE…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
Objective: A numerical 3D model of the human trunk was developed to study the biomechanical effects of lumbar belts used to treat low back pain. Methods: This model was taken from trunk radiographies of a person and simplified so as to make…
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…