Tomislav Bacek

Human Musculoskeletal and Energetic Adaptations to Unilateral Robotic Knee Gait Assistance

Tomislav Bacek, Marta Moltedo, Ben Serrien, Kevin Langlois, Bram Vanderborght, Dirk Lefeber, Carlos Rodriguez-Guerrero

Journal article  |  2022  |  IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING

OBJECTIVE: This paper aims to analyse the human musculoskeletal and energetic adaptation mechanisms when physically interacting wi..

On Singular Perturbation for a Class of Discrete-Time Nonlinear Systems in the Presence of Limit Cycles of Fast Dynamics

Hengchang LIU, Ying Tan, Tomislav Bacek, Mingrui SUN, Zhongxiang Chen, Dana Kulic, Denny Oetomo

Conference Proceedings  |  2022  |  ACC 2022

This paper extends the existing singular perturbation results to a class of nonlinear discrete-time systems whose fast dynamics ha..

Varying Joint Patterns and Compensatory Strategies Can Lead to the Same Functional Gait Outcomes: A Case Study

Tomislav Bacek, Mingrui SUN, Hengchang LIU, Zhongxiang Chen, Dana Kulic, Denny Oetomo, Ying Tan

Conference Proceedings  |  2022  |  ICORR 2022 Proceedings

This paper analyses joint-space walking mechanisms and redundancies in delivering functional gait outcomes. Multiple biomechanical..

Gait Simulation for Asymmetric Gait

Z Chen, T Bacek, M Sun, H Liu, D Oetomo, Y Tan, D Kulic

Conference Proceedings  |  2021  |  Australasian Conference on Robotics and Automation, ACRA

Walking with a powered ankle-foot orthosis: the effects of actuation timing and stiffness level on healthy users

Marta Moltedo, Tomislav Baček, Ben Serrien, Kevin Langlois, Bram Vanderborght, Dirk Lefeber, Carlos Rodriguez-Guerrero

Journal article  |  2020  |  Journal of NeuroEngineering and Rehabilitation

Background In the last decades, several powered ankle-foot orthoses have been developed to assist the ankle joint of their users d..

Varying mechanical compliance benefits energy efficiency of a knee joint actuator

T Baček, M Moltedo, J Geeroms, B Vanderborght, C Rodriguez-Guerrero, D Lefeber

Journal article  |  2020  |  Mechatronics

In the field of wearable robots, actuator efficiency and user safety are frequently addressed by intentionally adding compliance t..

Variable stiffness ankle actuator for use in robotic-assisted walking: Control strategy and experimental characterization

Marta Moltedo, Gaia Cavallo, Tomislav Bacek, John Lataire, Bram Vanderborght, Dirk Lefeber, Carlos Rodriguez-Guerrero

Journal article  |  2019  |  MECHANISM AND MACHINE THEORY

Despite the increasing interest in using powered ankle-foot orthoses for assistive purposes, their development and benchmarking st..

Design and evaluation of a torque-controllable knee joint actuator with adjustable series compliance and parallel elasticity

Tomislav Bacek, Marta Moltedo, Carlos Rodriguez-Guerrero, Joost Geeroms, Bram Vanderborght, Dirk Lefeber

Journal article  |  2018  |  MECHANISM AND MACHINE THEORY

Compliant actuators are increasingly being designed for wearable robots (WRs) to more adequately address their issues with safety,..

Design and Development of Customized Physical Interfaces to Reduce Relative Motion between the User and a Powered Ankle Foot Exoskeleton

K Langlois, M Moltedo, T Bacek, C Rodriguez-Guerrero, B Vanderborght, D Lefeber

Conference Proceedings  |  2018  |  Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

Exoskeletons have shown their ability to assist locomotion and augment human performances. However, the benefits of wearing these ..

Powered ankle-foot orthoses: the effects of the assistance on healthy and impaired users while walking

Marta Moltedo, Tomislav Bacek, Tom Verstraten, Carlos Rodriguez-Guerrero, Bram Vanderborght, Dirk Lefeber

Journal article  |  2018  |  JOURNAL OF NEUROENGINEERING AND REHABILITATION

In the last two decades, numerous powered ankle-foot orthoses have been developed. Despite similar designs and control strategies ..