3 papers
cs.RO2026
Versatile Exoskeleton Control Supports Elderly Joint Energetics During Hip-Intensive Tasks
Jiefu Zhang, Nikhil V. Divekar, Chandramouli Krishnan +1
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the h…
cs.RO2021
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…
cs.RO2018
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…