Ameur Latreche

Physics-guided residual inverse-transition modeling for continuum robots with simulation and ordered experimental evaluation

Abstract This study distinguishes two levels that were conflated in the original submission: a tendon-driven mechanical dynamics model used only in simulation, and an ordered one-step inverse-transition estimator used for the recorded experiment. The experimental estimator does n...

Design of a New 3-UPU/S Parallel Ankle Rehabilitation Mechanism

Ankle injuries may lead to severe complications, including chronic instability and reduced mobility. Rehabilitation therefore plays a critical role in restoring normal ankle function and preventing long-term impairment. However, conventional manual physiotherapy presents several...