Outputs (6)

Type synthesis and analysis of reconfigurable modules for closed-loop cable-driven mechanisms based on geometric constraints (2025)
Journal Article

Cable-driven mechanisms, particularly in closed-loop configurations, have demonstrated significant advancements in flexible drive systems. However, the cable tension changes caused by the closed-loop configuration cannot be effectively compensated. R... Read More about Type synthesis and analysis of reconfigurable modules for closed-loop cable-driven mechanisms based on geometric constraints.

Design and Development of a Cable-Driven Shoulder Exosuit (CDSE) for Upper Limb Assistance (2025)
Thesis

This thesis presents the development and evaluation of a novel Cable-Driven Shoulder Exosuit (CDSE), designed for enhancing upper limb rehabilitation. The motivation for this research stems from the critical need for advanced rehabilitation solutions... Read More about Design and Development of a Cable-Driven Shoulder Exosuit (CDSE) for Upper Limb Assistance.

Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm (2025)
Journal Article

This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots, thereby fostering the evolution of these robotic systems. We introduce two novel compliant actuators, namely the Internal Torsion Spri... Read More about Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm.

Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots (2025)
Journal Article

Friction Stir Welding (FSW) has recently emerged as an effective solid-state joining technique for welding high-strength aluminum alloys and light metals, particularly in the railway industry. However, a limitation of using FSW in this industry is th... Read More about Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots.

Using Wearable Soft Sensors for Gesture Recognition (2025)
Thesis

The increasing prevalence of hand impairments due to conditions such as arthritis, Cerebral Palsy, Parkinson’s Disease, and stroke presents significant challenges in everyday activities, such as tying shoes or getting dressed. In the UK, long-term mu... Read More about Using Wearable Soft Sensors for Gesture Recognition.

Design, Modeling, and Optimization of Hydraulically Powered Double-Joint Soft Robotic Fish (2025)
Journal Article

This article explores a hydraulically powered double-joint soft robotic fish called HyperTuna and a set of locomotion optimization methods. HyperTuna has an innovative, highly efficient actuation structure that includes a four-cylinder piston pump an... Read More about Design, Modeling, and Optimization of Hydraulically Powered Double-Joint Soft Robotic Fish.