This paper presents a new approach for the modelling of a screw shaft including the axial and torsional dynamics in the same model. The model includes the distributed parameter dynamics of the ball screw system and the effect of mass distribution. This is based on the flexibility of the Transmission Line Matrix Method (TLM) to develop lumped and distributed parameter systems. The procedure for ...

Compliant Actuators are desirable for human friendly robotics, especially for assistive and rehabilitation robots that have direct physical interaction with human users. Various designs of Series Elastic Actuators (SEA) have been developed for these applications. This paper presents a novel SEA design with variable impedance for human-friendly robotics applications that overcomes the major limi...

This paper presents the modular design and control of a novel variable impedance compact compliant wearable ankle robot (powered Ankle-Foot Orthosis, AFO) for overground gait rehabilitation and assistance mainly for stroke patients. Design of AFO, its construction, kinematics, working principle, actuation, control etc. are described. A novel variable impedance compact compliant series elastic a...

Objective molecular dynamics combined with density-functional-based tight binding makes it possible to compute chiral nanotubes as axial-screw dislocations. This enables the surprising revelation of a large catalog of MoS2 nanotubes that lack the prescribed translational symmetry and exhibit chirality-dependent electronic band gaps and elastic constants. Helical symmetry is the natural property...