Abstract: Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient but are often constrained by a limited range of gaits which can limit their locomotion ...

Abstract: This paper applies geometric design principles to planar mechanical systems, attempting to explain complex motion in mechanism–object/environment interaction for realizing multiple kinematic tasks in the vicinity of a ...

Abstract: This paper describes a dimensional synthesis method used in the design of a passive finger exoskeleton that takes into account the user limb anthropometric dimensions and contact requirements for grasping objects. The paper ...

Abstract: This paper presents a new two-step design procedure and preliminary kinematic evaluation of a novel, passive, six-bar knee-ankle-foot orthosis (KAFO). The kinematic design and preliminary kinematic gait analysis of the ...

Abstract: This article describes the development and evaluation of our passively actuated closed-loop articulated wearable (CLAW) that uses a common slider to passively drive its exo-fingers for use in physical training of people ...