Vrije Universiteit Brussel


Research Topics

The Multibody Mechanics Group of the Department of Mechanical Engineering at the Vrije Universiteit Brussel (VUB) started its research activities on computer-aided analysis of rigid and flexible mechanical systems in 1990. Its main research is focused on kinematical and dynamical simulations and on the development and use of new actuators as well as on the control of mechanical systems.

Pleated Pneumatic Artificial Muscles

A new type of pneumatic actuator was developed by our group. Today, research is focused on the fabrication and application of the Pleated Pneumatic Artificial Muscle, as it was called.
brochure (pdf, 1.4MB) about our PPAM and what we do with it

Lucy - Bipedal Walking Robot

The goal of this project is to create a lightweight biped which is able to walk in a dynamical stable way.

Soft Arm

A robot arm, driven by PPAM's is developed in this project. The arm is characterized by a high payload to weight ratio and an intrinsic compliant behavior.

MACCEPA

The MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) is a straightforward and easy to construct rotational actuator, of which the compliance can be controlled separately from the equilibrium position.

Real time dynamic simulations

Fast dynamic simulations of mechanical systems are achieved using canonical momenta. Click on the link to view some examples.

Trajectory generation for walking, hopping and running robots

In this research, trajectories for dynamically stable walking / running are being generated from objective parameters such as step length and motion speed.

Intelligent prosthesis

The goal of this project is to develop an intelligent transtibial prosthesis, using the Pleated Pneumatic Artificial Muscles.

ALTACRO - Step Rehabilitation Robot target="_blank"

The ALTACRO project is situated in the new and emerging field of medical rehabilitation robotics. ALTACRO stands for Automated Locomotion Training using an Actuated Compliant Robotic Orthosis. This project focuses on the design, construction and testing of a step rehabilitation robot for patients suffering from gait disorders. The key innovation in this project is the use of actuators with adaptable compliance.

Probo - Intelligent Huggy Robot

The goal of this project is to create a intelligent huggy robot to study cognitive human-robot interaction, especially with children. Probo is an intelligent robot that interacts with long-term hospitalised children. Its goal is to entertain those children and help them bear their stay at the hospital. At this moment a first prototype is ready.

Powered Elbow Orthosis

The development of a smart powered elbow orthosis driven by actuators with inherent and online adaptable compliance: MACCEPA's.

Theoretical Robotics

The research in theoretical robotics mainly focuses on the formulation of kinematic and dynamic equations of serial and parallel robots using Plücker vectors, and the analysis of singular poses with Grassmann geometries and exterior algebra. Up

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