Identification of Joint Dynamics

An Experimental Study on Parameter-Varying Identification of Non-Stationary Ankle Joint Stiffness

Our main objective for this project is to develop experimental methods to study and identify the dynamics of ankle joint stiffness using parameter-varying methods.

We use a nonlinear parameter varying models with parallel-cascade structure to identify ankle dynamics. This model comprises two pathways of representing intrinsic limb stiffness, and modeling stiffness arising from the stretch reflexes


Design and Adaptive Control of an Ankle Exoskeleton for Children with Cerebral Palsy

In this project, a portable cost-efficient active ankle orthosis is designed and controlled through adaptive intelligent algorithms.

The system serves as the first module of the Pediatric Exoskeleton Robot for Lower-limb (PERL) which aims at assisting and facilitating the rehabilitation of children with cerebral palsy.


Design and Prototyping of a Semi-Active Variable-Mechanics Ankle Exoskeleton

Modern passive ankle-foot exoskeletons do not exhibit appropriate biomechanics during walking, and are unable to adjust their mechanics for different phases of gait and for different environments. In this project, we introduce FLORA - FLexible Orthoses for Rehabilitation of Ankle, which is a semi-active ankle-foot orthoses with customizable stiffness.