13 citations · 13 across the 2 of their papers we have counts for
4 papers · 1 filter
Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses
Christopher Nesler, Gray Thomas, Nikhil Divekar +2
Mobility disabilities are prominent in society with wide-ranging detriments to affected individuals. Addressing the specific deficits of individuals within this heterogeneous popul…
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control
Binghan He, Huang Huang, Gray C. Thomas +1
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amp…
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons
Binghan He, Huang Huang, Gray C. Thomas +1
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the huma…
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming
Rachel Schlossman, Gray C. Thomas, Orion Campbell +1
Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the perfor…