Victor Grosu

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Almost all of the transtibial prostheses that are available on the market are purely passive devices. They store energy in an elastic element at the beginning of a step and release it at the end in order to move the body forward. The main problem with these prostheses is that only the energy that has been stored in the elastic element is used for the(More)
This paper discusses two ways to estimate the interaction force at the end-effector of a robot. The first approach that is presented combines filtered dynamic equations with a recursive least squares estimation algorithm to provide a smoothened force signal, which is useful in the (common) case of noisy torque measurements.
Transtibial (TT) amputations, or below-knee amputations, are among the most frequently performed major limb removals. To replace the missing limb, numerous prosthetic devices were developed. A study of the state-of-the-art in TT prostheses shows that none of the commercially available devices are capable of mimicking an able-bodied ankle-foot complex. Still(More)
This paper describes the design and development of an exoskeleton that can deliver assistance-as-needed to patients or elderly with muscle weakness. Since the proof-of-concept is a first step towards the development of a final commercial prototype, the design had to be adaptable for patients with different heights, be comfortable for the patients, safe in(More)
Industrial and technical applications of mobile robots are continuously gaining in importance. They are already widely used for surveillance, inspection and transportation tasks. A further emerging market is that of mobile entertainment robots. One of the main requirements of an autonomous mobile robot is its ability to move through the operational space,(More)
In an ageing population many people with muscle weakness may benefit from an assisting exoskeleton to improve their mobility. Recent developments in research labs around the world are often complex, not modular and expensive. This paper introduces a novel modular compliant actuator for use in assistive lower limb exoskeletons. It is a low-cost,(More)
The number of mechanical degrees of freedom (DoFs) within rehabilitation robots directly influences the scope of the movements that a subject can perform when training walking. Currently, gait rehabilitation robots have a limited number of mechanical DoFs, as a consequence this limits the movements these robots can make possible. In this paper, the novel(More)
The last decades, rehabilitation has become a challenging context for mechatronical engineering. From the state-of-the-art it is seen that the field of prosthetics offers very promising perspectives to roboticist. Today's prosthetic feet tend to improve amputee walking experience by delivering the necessary push-off forces while walking. Therefore, several(More)