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— We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch(More)
— In this study, we present the conceptual design of a fully-passive transfemoral prosthesis. The design is inspired by the power flow in human gait in order to have an energy efficient device. The working principle of the conceptual mechanism is based on three storage elements, which are responsible of the energetic coupling between the knee and the ankle(More)
In this work, we present a proof of concept of a novel variable stiffness actuator. The actuator design is based on the conceptual design proposed in earlier work, and is such that the apparent output stiffness of the actuator can be changed independently of the output position and without any energy cost. Experimental results show that the behavior of the(More)
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— The goal of the paper is to present the foreseen research activity of the European project " SHERPA " whose activities will start officially on February 1th 2013. The goal of SHERPA is to develop a mixed ground and aerial robotic platform to support search and rescue activities in a real-world hostile environment, like the alpine scenario that is(More)
— In this paper, we present haptic teleoperation of underactuated unmanned aerial vehicles by providing a mul-tidimensional generalization of the virtual slave concept. The proposed control architecture is composed of high-level and low-level controllers. The high-level controller commands the vehicle to accomplish specific tasks and renders both the state(More)
— In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel(More)