... and thus provide limited battery-powered operation or require large onboard batteries. Here we review two of the leading energy-efficient actuator design principles for legged and wearable robotic systems: series elasticity and backdrivability. As shown by inverse dynamic simulations of walking...

...@uwaterloo.ca 23 09 2021 20 12 2021 14 03 2022 exoskeleton multibody dynamic model closed kinematic chain wearable robotics model-based design optimization human–robot interaction assistive devices biomechatronics differential-algebraic equations Canada Research Chairs...