1 citations · 1 across the 3 of their papers we have counts for
5 papers
Estimation of Minimum Stride Frequency for the Frontal Plane Stability of Bipedal Systems
Harsha Karunanayaka, Siavash Rezazadeh
Stability of bipedal systems in frontal plane is affected by the hip offset, to the extent that adjusting stride time using feedforward retraction and extension of the legs can lea…
Incorporating Human-Inspired Ankle Characteristics in a Forced-Oscillation-Based Reduced-Order Model for Walking
Chathura Semasinghe, Siavash Rezazadeh
This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which…
Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle
Edgar Bolívar, Siavash Rezazadeh, Tyler Summers +1
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important chall…
A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis
Siavash Rezazadeh, David Quintero, Nikhil Divekar +3
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general…
Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: a Convex Optimization Framework for Elastic Element Design
Edgar Bolívar, Siavash Rezazadeh, Robert Gregg
Compared to rigid actuators, Series Elastic Actuators (SEAs) offer a potential reduction of motor energy consumption and peak power, though these benefits are highly dependent on t…