15 citations · 25 across the 8 of their papers we have counts for
9 papers
How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems
Ung Hee Lee, Tor Shepherd, Sangbae Kim +5
A key step in the development of lightweight, high performance robotic systems is the modeling and selection of permanent magnet brushless direct current (BLDC) electric motors. Ty…
Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton
Jiefu Zhang, Jianping Lin, Vamsi Peddinti +1
Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. E…
Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction
Duong Le, Shihao Cheng, Robert D. Gregg +1
Powered prosthetic legs must anticipate the user's intent when switching between different locomotion modes (e.g., level walking, stair ascent/descent, ramp ascent/descent). Numero…
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain
Roberto Leo Medrano, Gray Cortright Thomas, Connor G. Keais +2
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synch…
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…
Lower-limb kinematics and kinetics during continuously varying human locomotion
Emma Reznick, Kyle R. Embry, Ross Neuman +3
Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, an…
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…