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Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
Turbulent kinetic energy (TKE) is a measure for unsteady loads and important regarding the design of e.g. propellers or energy-saving devices. While simulations are often done for a double-body, using a symmetry condition, experiments and…
As machine learning inferences increasingly move to edge devices, adapting to diverse computational capabilities, hardware, and memory constraints becomes more critical. Instead of relying on a pre-trained model fixed for all future…
Complex engineering models are typically computationally demanding and defined by a high-dimensional parameter space challenging the comprehensive exploration of parameter effects and design optimization. To overcome this curse of…
Recovering and distinguishing between the strict-preference, indifference and/or indecisiveness parts of a decision maker's preferences is a challenging task but also important for testing theory and conducting welfare analysis. This paper…
Semiflexible polymers are widely used as a paradigm for understanding structural phases in biomolecules including folding of proteins. Here, we compare bead-spring and bead-stick variants of coarse-grained semiflexible polymer models that…
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during the interaction, avoiding undesired forces. Therefore,…
The purpose of the study was to find the true comfort of the wearer by conceptualizing, formulating, and proving the relation between physiological and emotional parameters with clothing fit and fabric. A mixed-method research design was…
In wire bearings the rolling process occurs on raceways machined on steel wires, and the rings are made of light materials such as aluminium. This particular architecture provides both weight and inertia savings, but also significantly…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the…
A general approach to simulate the mechanical behavior of textile materials by taking into account all their constitutive elementary fibers and contacts between them is presented in this paper. A finite element code, based on an implicit…
The ability to accurately quantify the performance an additively manufactured (AM) product is important for a widespread industry adoption of AM as the design is required to: (1) satisfy geometrical constraints, (2) satisfy structural…
Pattern-forming metamaterials feature microstructures specifically designed to change the material's macroscopic properties due to internal instabilities. These can be triggered either by mechanical deformation or, in the case of active…
Soft robotic suits have the potential to rehabilitate, assist, and augment the human body. The low weight, cost, and minimal form-factor of these devices make them ideal for daily use by both healthy and impaired individuals. However,…
Soft actuators have attracted a great deal of interest in the context of rehabilitative and assistive robots for increasing safety and lowering costs as compared to rigid-body robotic systems. During actuation, soft actuators experience…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Integrating uncertainties in the design process of reinforced concrete rail bridges, in a fully probabilistic framework, makes their design more complex and challenging. To propagate these uncertainties and convey their influence on the…