An Under Actuated Robotic Arm with Adjustable Stiffness Shape Memory Polymer Joints

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Partial Assistance with Lower-Limb Exoskeletons to Enhance Gait and Balance in Daily Living Activities

Zeynep Ozge Orhan

This thesis addresses key challenges in developing adaptive lower-limb exoskeletons to enhance balance, mobility, and user autonomy during daily living activities. It presents a comprehensive exploration of three critical aspects: push recovery during stan ...

EPFL2025

A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles

Mirko Kovac

Actuators based on soft elastomers offer significant advantages to the field of robotics, providing greater adaptability, improving collision resilience, and enabling shape-morphing. Thus, soft fluidic actuators have seen an expansion in their fields of ap ...

WILEY2024

Clutchable Fabric Actuator for Energy-Efficient Wearable Robots

Huapeng Zhang, Herbert Shea

Energy-efficient yet energy-dense soft actuators are essential for untethered wearable robots. This work reports a fabric-like actuator, combining shape memory alloy (SMA) springs and electrostatic clutches (ESClutches). The SMA springs provide high force ...

2024

EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques

Hannes Bleuler, Mohamed Bouri, Miguel Nicolelis, Jeremy Olivier, Tristan Hubert Vouga

Recent advances in the field of brain-machine interfaces (BMIs) have demonstrated enormous potential to shape the future of rehabilitation and prosthetic devices. Here, a lower-limb exoskeleton controlled by the intracortical activity of an awake behaving ...

Ieee-Inst Electrical Electronics Engineers Inc2017