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Therapy Easy: A co-designed hand rehabilitation system using Leap motion controller (2022)
Conference Proceeding
Jena, A., Chong, J., Jafari, A., & Etoundi, A. (2022). Therapy Easy: A co-designed hand rehabilitation system using Leap motion controller. In 2021 24th International Conference on Mechatronics Technology (ICMT)https://doi.org/10.1109/icmt53429.2021.9687286

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.

Integration of computer vision in a testing facility for prosthetic joint inspection and performance assessment (2022)
Conference Proceeding
Glanville, S., Chong, J. J., Jafari, A., & Etoundi, A. (2022). Integration of computer vision in a testing facility for prosthetic joint inspection and performance assessment. In 2021 24th International Conference on Mechatronics Technology (ICMT)https://doi.org/10.1109/icmt53429.2021.9687237

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.

Mimicking condylar knee to design bio-inspired robotic knee joint based on magnetic resonance imaging (2022)
Conference Proceeding
Hung, C. H., Etoundi, A., Jafari, A., Matthews, J., Chang, W. C., & Chong, J. J. (2022). Mimicking condylar knee to design bio-inspired robotic knee joint based on magnetic resonance imaging. In 2021 24th International Conference on Mechatronics Technology (ICMT)https://doi.org/10.1109/icmt53429.2021.9687202

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.

Physiological data measurement in digital manufacturing (2022)
Conference Proceeding
Chong, J., Yacoub, A. A., Agrawal, S., Giuliani, M., Etoundi, A., & Jafari, A. (2022). Physiological data measurement in digital manufacturing. In 2021 24th International Conference on Mechatronics Technology (ICMT)https://doi.org/10.1109/ICMT53429.2021.9687200

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.

Bio-inspired knee joint: Trends in the hardware systems development (2021)
Journal Article
Etoundi, A. C., Semasinghe, C. L., Agrawal, S., Dobner, A., & Jafari, A. (2021). Bio-inspired knee joint: Trends in the hardware systems development. Frontiers in Robotics and AI, 8, https://doi.org/10.3389/frobt.2021.613574

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.

Application of machine learning towards design optimisation of bio-inspired transfemoral prosthetic socket for robotic leg test rig (2020)
Conference Proceeding
Etoundi, A., Semasinghe, C., Agrawal, S., Sabau, P., Chong, J. J., & Jafari, A. (2020). Application of machine learning towards design optimisation of bio-inspired transfemoral prosthetic socket for robotic leg test rig. https://doi.org/10.23919/iccas50221.2020.9268404

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.

Design of a virtual testing platform for assessing prosthetic knee joints (2020)
Conference Proceeding
Chong, J., Etoundi, A. C., & Hoh, S. (2020). Design of a virtual testing platform for assessing prosthetic knee joints. In 2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM). , (576-581). https://doi.org/10.1109/icarm49381.2020.9195275

This paper presents a mathematical and dynamic model for a testing platform designed to assess the performances of a wide range of artificial knee joints (prosthetic and robotic devices) based on the analysis of motion of lower limbs. Fundamental equ... Read More about Design of a virtual testing platform for assessing prosthetic knee joints.

A de-risked bio-inspired condylar prosthetic knee joint for a robotic leg test rig (2020)
Conference Proceeding
Agrawal, S., Simasinghe, C., Jafari, A., Etoundi, A., & Jie Chong, J. (in press). A de-risked bio-inspired condylar prosthetic knee joint for a robotic leg test rig

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)
Conference Proceeding
Sabau, P., Jie Chong, J., Jafari, A., Agrawal, S., Semasinghe, C., & Etoundi, A. (in press). Application of machine learning towards design optimisation of bio-inspired transfemoral prosthetic socket for robotic leg test rig

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.

Lyapunov observer/controller for stable haptic interaction (2018)
Conference Proceeding
Jafari, A., Singh, H., Karunanayaka, H., Ryu, J. H., Chong, J., & Etoundi, A. (2018). Lyapunov observer/controller for stable haptic interaction. https://doi.org/10.1109/AIM.2018.8452311

© 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.

Biomimetic knee design to improve joint torque and life for bipedal robotics (2018)
Journal Article
Steele, A., Hunt, A., & Etoundi, A. C. (2018). Biomimetic knee design to improve joint torque and life for bipedal robotics. Lecture Notes in Artificial Intelligence, 10965 LNAI, 91-102. https://doi.org/10.1007/978-3-319-96728-8_8

© Springer International Publishing AG, part of Springer Nature 2018. This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of... Read More about Biomimetic knee design to improve joint torque and life for bipedal robotics.

Modelling of a Bio-Inspired Knee Joint and Design of an Energy Saving Exoskeleton Based on Performance Maps Optimisation for Condylar Knee Prosthetics (2018)
Conference Proceeding
Etoundi, A., Chong, J., & Jafari, A. (2018). Modelling of a Bio-Inspired Knee Joint and Design of an Energy Saving Exoskeleton Based on Performance Maps Optimisation for Condylar Knee Prosthetics. https://doi.org/10.1109/CoDIT.2018.8394776

© 2018 IEEE. The process of designing bio-inspired knee joint for prosthetics/exoskeletons has been a challenging issue due to the complicated relationships between the performance criteria and the link lengths of the design space, or workspace in th... Read More about Modelling of a Bio-Inspired Knee Joint and Design of an Energy Saving Exoskeleton Based on Performance Maps Optimisation for Condylar Knee Prosthetics.

Design of anatomy-based 3D patient-specific knee replacement implant model from medical imaging (2018)
Presentation / Conference
Chong, J., Matthews, J., Jafari, A., & Appolinaire, E. (2018, June). Design of anatomy-based 3D patient-specific knee replacement implant model from medical imaging. Paper presented at 2018 The 2nd International Conference on Mechanical, System and Control Engineering (ICMSC 2018)

This paper focuses on the design of an anatomy-based 3D patient-specific knee replacement implant model, which is derived from medical imaging. The investigation extracted the knee profiles from MRI scans to develop a 3D model of the knee, including... Read More about Design of anatomy-based 3D patient-specific knee replacement implant model from medical imaging.

A conceptual exoskeleton shoulder design for the assistance of upper limb movement (2018)
Journal Article
Perez, C. N., Georgilas, I., Etoundi, A., Chong, J., & Jafari, A. (2018). A conceptual exoskeleton shoulder design for the assistance of upper limb movement. Lecture Notes in Artificial Intelligence, 10965 LNAI, 291-302. https://doi.org/10.1007/978-3-319-96728-8_25

© Springer International Publishing AG, part of Springer Nature 2018. There is an increased interest on wearable technologies for rehabilitation and human augmentation. Systems focusing on the upper limbs are attempting to replicate the musculoskelet... Read More about A conceptual exoskeleton shoulder design for the assistance of upper limb movement.

Development of a bio-inspired knee joint mechanism for a bipedal robot (2017)
Presentation / Conference
Steele, A., Hunt, A., & Etoundi, A. (2017, July). Development of a bio-inspired knee joint mechanism for a bipedal robot. Paper presented at Living Machines 2017

This paper presents the design and development of a novel biologically inspired knee design for humanoid robots. The robotic joint presented mimics the design of the human knee joint by copying the condylar surfaces of the femur and tibia. The joint... Read More about Development of a bio-inspired knee joint mechanism for a bipedal robot.

Single motor actuated peristaltic wave generator for a soft bodied worm robot (2016)
Presentation / Conference
Winstone, B., Pipe, A. G., Melhuish, C., Callaway, M., Etoundi, A., & Dogramadzi, S. (2016, June). Single motor actuated peristaltic wave generator for a soft bodied worm robot. Paper presented at BioRob 2016 - IEEE International Conference on Biomedical Robotics and Biomechatronics

This paper presents the design and development of a single motor actuated peristaltic worm robot with three segments using a bio-inspired method of locomotion with one actuator that achieves optimised worm like peristaltic motion. Each segment consis... Read More about Single motor actuated peristaltic wave generator for a soft bodied worm robot.

Performance maps for a bio-inspired robotic condylar hinge joint (2014)
Journal Article
Etoundi, A. C., & Burgess, S. C. (2014). Performance maps for a bio-inspired robotic condylar hinge joint. Journal of Mechanical Design, 136(11), https://doi.org/10.1115/1.4028168

© 2014 by ASME. This paper presents performance charts that map the design space of a bio-inspired robotic condylar hinge joint. The joint mimics the design of the human knee joint by copying the condylar surfaces of the femur and tibia and by copyin... Read More about Performance maps for a bio-inspired robotic condylar hinge joint.