Elena Galbally

Elena Galbally, Mikael Jorda

The majority of everyday tasks involve interacting with unstructured environments. This implies that, in order for robots to be truly useful they must be able to handle contacts. This paper explores how a particle filter can be used to localize a contact point and estimate the external force. We demonstrate the capability of the particle filter on a simulated 4DoF planar robotic arm, and compare it to a well-established analytical approach.

Elena Galbally, Frank Small, Ivan Zanco

We present a highly functional and cost-effective prosthesis for transfemoral amputees that uses series elastic actuators. These actuators allow for accurate force control, low impedance and large dynamic range. The design involves one active joint at the knee and a passive joint at the ankle. Additionally, the socket was designed using mirroring of compliances to ensure maximum comfort.