Design optimization and control of a rotary series elastic actuator for lower-limb exoskeletons

Sen Zhang, Xishun Yang, Weimin Ge, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, National Demonstration Center for Experimental Mechanical and Electrical Engineering Education , Tianjin University of Technology

Journal of Vibration and Control

Published online on March 11, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
The worldwide rise in aging populations and mobility-impairing diseases has created an urgent demand for lower-limb exoskeletons that can safely provide effective assistance in daily environments. Physical safety is therefore the foremost issue in human–...