Condylar Joints for Walking Robots

Felix Russell

Research questions

Can feedback from elastic ligaments in a condylar robotic joint be used in a controller to enhance joint function by improving positional accuracy, reducing stress in the mechanism, reducing energy consumption for walking or reducing the processing power required to maintain stability?

How does this link with current thinking about human neuromuscular control?

Can this type of joint be used to improve passive-dynamic walking robots? How can the joint geometry and the stiffness of the elastic ligaments be modified to get different performance characteristics?


Russell, F., Zhu, Y., Hey, W., Vaidyanathan, R. and Ellison, P., 2018. A biomimicking design for mechanical knee joints. Bioinspiration & biomimetics   

Russell, F., Vaidyanathan, R. and Ellison, P., 2018, August. A Kinematic Model for the Design of a Bicondylar Mechanical Knee. In 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) (pp. 750-755). IEEE.

Russell, F., Gao, L., Ellison, P. and Vaidyanathan, R., 2017, July. Challenges in using compliant ligaments for position estimation within robotic joints. In Rehabilitation Robotics (ICORR), 2017 International Conference on (pp. 1471-1476). IEEE. 


Dr Peter Ellison, Junior Research Fellow, Medical Engineering, Imperial College London


UK Engineering and Physical Sciences Reasearch Council (EPSRC)

Medical Research Council (MRC) Confidence in Concept (CiC) scheme grant with Össur inc.