All Outputs (38)

Evaluation and future perspectives on "Anthro-Hand" (2024)
Presentation / Conference Contribution

Inspired by nature's evolutionary marvels, this study explores the development of a novel bio-mimetic prosthetic hand, emphasizing a soft robotic approach. Through a meticulous review of various prosthetic designs, focusing on actuation and construct... Read More about Evaluation and future perspectives on "Anthro-Hand".

The robotic socket: A robotic design and biomimetic application of an auto-adjusting prosthetic socket prototype for above-knee amputees (2023)
Presentation / Conference Contribution

Comfort in prosthetic sockets remains a significant challenge for many amputees, particularly for above-knee amputees bearing substantial weight on their soft tissue [1], [2]. The predominant source of discomfort often originates from swelling of the... Read More about The robotic socket: A robotic design and biomimetic application of an auto-adjusting prosthetic socket prototype for above-knee amputees.

Investigation into the customization of a transfemoral prosthetic socket to minimize discomfort for residual limb (RL) volume change (2023)
Presentation / Conference Contribution

It has been estimated that approximately 7000 people undergo limb amputation in the UK every year [1]. This issue is even more significant in the US, where over 150,000 people undergo lower limb extremity amputations, and this number is predicted to... Read More about Investigation into the customization of a transfemoral prosthetic socket to minimize discomfort for residual limb (RL) volume change.

A robotic test rig for performance assessment of prosthetic joints (2022)
Journal Article

Movement within the human body is made possible by joints connecting two or more elements of the musculoskeletal system. Losing one or more of these connections can seriously limit mobility, which in turn can lead to depression and other mental issue... Read More about A robotic test rig for performance assessment of prosthetic joints.

Mimicking condylar knee to design bio-inspired robotic knee joint based on magnetic resonance imaging (2022)
Presentation / Conference Contribution

The process of designing bio-inspired knee joint has been a challenging issue due to the complicated kinematics and dynamics of the human knee joint. This paper addresses this issue by presenting a design methodology that has been used to model the h... Read More about Mimicking condylar knee to design bio-inspired robotic knee joint based on magnetic resonance imaging.

Integration of computer vision in a testing facility for prosthetic joint inspection and performance assessment (2022)
Presentation / Conference Contribution

This paper presents a computer vision system within a test facility for prosthetic joint inspection and performance by analysing range of motion data. Testing with individuals rather than using a testing facility can cause issues, such as irritation,... Read More about Integration of computer vision in a testing facility for prosthetic joint inspection and performance assessment.

Therapy Easy: A co-designed hand rehabilitation system using Leap motion controller (2022)
Presentation / Conference Contribution

Disability affects over 1 billion people across the globe [1]. About 190 million people in this demographic aged 15 or older require healthcare services due to having significant difficulties in functioning [1]. Upper limb disability is one such issu... Read More about Therapy Easy: A co-designed hand rehabilitation system using Leap motion controller.

Physiological data measurement in digital manufacturing (2022)
Presentation / Conference Contribution

As industry is moving towards a new digital rev-olution, identifying workers' mental and physical status is key to improved productivity in a digital manufacturing scenario. The main objective here is to provide an overview of sensing technologies in... Read More about Physiological data measurement in digital manufacturing.

Virtual inertia as an energy dissipation element for haptic interfaces (2022)
Journal Article

Adding virtual damping to dissipate energy has been a major tool for designing stable haptic interfaces in most passivity-based approaches. However, virtual damping is known to dissipate a limited amount of energy. It even generates energy during hig... Read More about Virtual inertia as an energy dissipation element for haptic interfaces.

Bio-inspired knee joint: Trends in the hardware systems development (2021)
Journal Article

The knee joint is a complex structure that plays a significant role in the human lower limb for locomotion activities in daily living. However, we are still not quite there yet where we can replicate the functions of the knee bones and the attached l... Read More about Bio-inspired knee joint: Trends in the hardware systems development.

A de-risked bio-inspired condylar prosthetic knee joint for a robotic leg test rig (2020)
Presentation / Conference Contribution

The design of the human knee joint has been a challenging task due to the presence of intricate parts, complex mechanisms and their interdependence which joins them together. A bio-inspired design for the condylar knee joint has been proposed in earl... Read More about A de-risked bio-inspired condylar prosthetic knee joint for a robotic leg test rig.

Application of machine learning towards design optimisation of bio-inspired transfemoral prosthetic socket for robotic leg test rig (2020)
Presentation / Conference Contribution

In the past century many medical advancements in prosthetics have been achieved, however, discomfort in prosthetic socket remains one of the toughest challenges faced by both amputees and prosthetists. Wearing an uncomfortable socket can lead to user... Read More about Application of machine learning towards design optimisation of bio-inspired transfemoral prosthetic socket for robotic leg test rig.

Multilateral teleoperation over communication time delay using the time-domain passivity approach (2019)
Journal Article

A general framework to stabilize multilateral teleoperation system over a communication time delay based on the well-known time-domain passivity approach (TDPA) is proposed. The uniqueness of this framework is that it is independent of the amount of... Read More about Multilateral teleoperation over communication time delay using the time-domain passivity approach.

Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach (2019)
Journal Article

© 1982-2012 IEEE. There have been numerous approaches that have been proposed to enlarge the impedance range of haptic interaction while maintaining stability. However, enhancing the rate-hardness of haptic interaction while maintaining stability is... Read More about Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach.

Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller (2019)
Presentation / Conference Contribution

Passivity has been the most often used constraint for the stable controller design of bilateral teleoperation systems. Especially, Time Domain Passivity Approach (TDPA) has been used in many applications since it has been known as one of the least co... Read More about Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller.

Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation (2018)
Presentation / Conference Contribution

© 2018 IEEE. Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwid... Read More about Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation.

Lyapunov observer/controller for stable haptic interaction (2018)
Presentation / Conference Contribution

© 2018 IEEE. Passivity has been the most common tool to achieve stability in haptic and teleoperation systems; however passivity-based approaches suffer from the conservativism of passivity criteria. Therefore, it is essential to have an approach whi... Read More about Lyapunov observer/controller for stable haptic interaction.

Realizing low-impedance rendering in admittance-type haptic interfaces using the input-to-state stable approach (2017)
Presentation / Conference Contribution

© 2017 IEEE. This paper proposes an approach to enlarge the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces have advantages over impedance-type haptic interfaces in the interaction with high impedance virtual e... Read More about Realizing low-impedance rendering in admittance-type haptic interfaces using the input-to-state stable approach.

The Input-to-State Stable (ISS) approach for stabilizing haptic interaction with virtual environments (2017)
Journal Article

© 2004-2012 IEEE. Passivity has been a major criterion for designing a stable haptic interface due to its numerous advantages. However, passivity-based controllers have suffered from the design conservatism of the passivity criterion, particularly wh... Read More about The Input-to-State Stable (ISS) approach for stabilizing haptic interaction with virtual environments.

Multi degree-of-freedom successive stiffness increment approach for high stiffness haptic interaction (2016)
Presentation / Conference Contribution

In haptic interaction, stability and the object’s hardness perception are of great significance. Although numerous studies have been done for stable haptic interaction, however, most of them sacrifice the actual displayed stiffness as a cost of stabi... Read More about Multi degree-of-freedom successive stiffness increment approach for high stiffness haptic interaction.