A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons

Authors: Lin, J., Thomas, G.C., Divekar, N.V., Peddinti, V., Gregg, R.D.

Source: IEEE Transactions on Control Systems Technology IEEE Trans. Contr. Syst. Technol. Control Systems Technology, IEEE Transactions on. 32(6):2359-2375 Nov, 2024

Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons With Task/Gait Classification

Authors: Lin, J., Gregg, R.D., Shull, P.B.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(8):6848-6855 Aug, 2024

Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles

Authors: Cheng, S., Laubscher, C.A., Gregg, R.D.

Source: IEEE Transactions on Biomedical Engineering IEEE Trans. Biomed. Eng. Biomedical Engineering, IEEE Transactions on. 71(5):1499-1510 May, 2024

Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets

Authors: Le, D., Cheng, S., Gregg, R.D., Ghaffari, M.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(5):4321-4328 May, 2024

Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots

Authors: Hsu, T., Gregg, R.D., Thomas, G.C.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(3):2104-2111 Mar, 2024

Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent

Authors: Cortino, R.J., Best, T.K., Gregg, R.D.

Source: IEEE Transactions on Medical Robotics and Bionics IEEE Trans. Med. Robot. Bionics Medical Robotics and Bionics, IEEE Transactions on. 6(1):175-188 Feb, 2024

Controlling Powered Prosthesis Kinematics Over Continuous Inter-Leg Transitions Between Walking and Stair Ascent/Descent

Authors: Cheng, S., Laubscher, C.A., Gregg, R.D.

Source: IEEE Transactions on Neural Systems and Rehabilitation Engineering IEEE Trans. Neural Syst. Rehabil. Eng. Neural Systems and Rehabilitation Engineering, IEEE Transactions on. 32:3891-3901 2024

Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain

Authors: Medrano, R.L., Thomas, G.C., Keais, C.G., Rouse, E.J., Gregg, R.D.

Source: IEEE Transactions on Robotics IEEE Trans. Robot. Robotics, IEEE Transactions on. 39(3):2170-2182 Jun, 2023

Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking

Authors: Best, T.K., Welker, C.G., Rouse, E.J., Gregg, R.D.

Source: IEEE Transactions on Robotics IEEE Trans. Robot. Robotics, IEEE Transactions on. 39(3):2151-2169 Jun, 2023

Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis

Authors: Welker, C.G., Best, T.K., Gregg, R.D.

Source: IEEE Transactions on Neural Systems and Rehabilitation Engineering IEEE Trans. Neural Syst. Rehabil. Eng. Neural Systems and Rehabilitation Engineering, IEEE Transactions on. 31:4146-4155 2023

Stability of Time-Invariant Extremum Seeking Control for Limit Cycle Minimization

Authors: Kumar, S., Makarenkov, O., Gregg, R.D., Gans, N.

Source: IEEE Transactions on Automatic Control IEEE Trans. Automat. Contr. Automatic Control, IEEE Transactions on. 67(9):5017-5024 Sep, 2022

Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds

Authors: Horn, J.C., Gregg, R.D.

Source: IEEE Transactions on Control Systems Technology IEEE Trans. Contr. Syst. Technol. Control Systems Technology, IEEE Transactions on. 30(5):2062-2071 Sep, 2022

Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing

Authors: Cheng, S., Bolivar-Nieto, E., Welker, C.G., Gregg, R.D.

Source: IEEE Transactions on Medical Robotics and Bionics IEEE Trans. Med. Robot. Bionics Medical Robotics and Bionics, IEEE Transactions on. 4(3):840-851 Aug, 2022

Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses

Authors: Nesler, C., Thomas, G., Divekar, N., Rouse, E.J., Gregg, R.D.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 7(3):6155-6162 Jul, 2022

Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations

Authors: Medrano, R.L., Thomas, G.C., Rouse, E.J., Gregg, R.D.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 7(3):7463-7470 Jul, 2022

Optimally Biomimetic Passivity-Based Control of a Lower-Limb Exoskeleton Over the Primary Activities of Daily Life

Authors: Lin, J., Divekar, N.V., Thomas, G.C., Gregg, R.D.

Source: IEEE Open Journal of Control Systems IEEE Open J. Control. Syst. Control Systems, IEEE Open Journal of. 1:15-28 2022

Predicting Individualized Joint Kinematics Over Continuous Variations of Walking, Running, and Stair Climbing

Authors: Reznick, E., Welker, C.G., Gregg, R.D.

Source: IEEE Open Journal of Engineering in Medicine and Biology IEEE Open J. Eng. Med. Biol. Engineering in Medicine and Biology, IEEE Open Journal of. 3:211-217 2022

Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics

Authors: Kamidi, V.R., Horn, J.C., Gregg, R.D., Akbari Hamed, K.

Source: IEEE Control Systems Letters IEEE Control Syst. Lett. Control Systems Letters, IEEE. 5(6):1976-1981 Dec, 2021

Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses

Authors: Zhu, H., Nesler, C., Divekar, N., Peddinti, V., Gregg, R.D.

Source: IEEE/ASME Transactions on Mechatronics IEEE/ASME Trans. Mechatron. Mechatronics, IEEE/ASME Transactions on. 26(6):3104-3115 Dec, 2021

Optimal Task-Invariant Energetic Control for a Knee-Ankle Exoskeleton

Authors: Lin, J., Divekar, N.V., Lv, G., Gregg, R.D.

Source: IEEE Control Systems Letters IEEE Control Syst. Lett. Control Systems Letters, IEEE. 5(5):1711-1716 Nov, 2021