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Proceedings Papers

Dynamic Locomotion of a Lower-Limb Exoskeleton Through Virtual Constraints Based ZMP Regulation

Victor Paredes, Ayonga Hereid
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T14A001, October 5–7, 2020
Paper No: DSCC2020-3170
DOI: https://doi.org/10.1115/DSCC2020-3170
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Topics: Exoskeleton devices, Dynamics (Mechanics), Hardware, Robots, Stability, Center of mass, Control equipment, Force sensors, Motion control, Robotics
Proceedings Papers

Sampled-Data Observer Based Dynamic Surface Control of Delayed Neuromuscular Functional Electrical Stimulation

Qiang Zhang, Ashwin Iyer, Ziyue Sun, Albert Dodson, Nitin Sharma
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T14A003, October 5–7, 2020
Paper No: DSCC2020-3225
DOI: https://doi.org/10.1115/DSCC2020-3225
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Topics: Delays, Diseases, Dynamics (Mechanics), Errors, Exoskeleton devices, Imaging, Muscle, Nervous system, Simulation results, Stability
Proceedings Papers

Neural-Network Based Iterative Learning Control of a Hybrid Exoskeleton With an MPC Allocation Strategy

Vahidreza Molazadeh, Qiang Zhang, Xuefeng Bao, Nitin Sharma
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A011, October 8–11, 2019
Paper No: DSCC2019-9191
DOI: https://doi.org/10.1115/DSCC2019-9191
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Topics: Artificial neural networks, Control equipment, Exoskeleton devices, Iterative learning control, Predictive control
Proceedings Papers

A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

Raghuraj J. Chauhan, Pinhas Ben-Tzvi
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A003, October 8–11, 2019
Paper No: DSCC2019-8996
DOI: https://doi.org/10.1115/DSCC2019-8996
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Topics: Actuators, Design, Exoskeleton devices, Linkages
Proceedings Papers

On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation

Jiamin Wang, Oumar Barry, Andrew J. Kurdila, Sujith Vijayan
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T27A008, October 8–11, 2019
Paper No: DSCC2019-9118
DOI: https://doi.org/10.1115/DSCC2019-9118
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Topics: Dynamics (Mechanics), Exoskeleton devices, Kinematics, Design, Algorithms, Construction, Control equipment, Control systems, Diseases, Dynamic analysis
Proceedings Papers

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

Erivelton Gualter dos Santos, Hanz Richter
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T24A003, September 30–October 3, 2018
Paper No: DSCC2018-9054
DOI: https://doi.org/10.1115/DSCC2018-9054
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Topics: Actuators, Control modeling, Stiffness, Design, Dynamics (Mechanics), Computational methods, Control systems, Deflection, Electromechanical actuators, Energy storage
Proceedings Papers

Design and Validation of a Torque Controllable Hip Exoskeleton for Walking Assistance

Inseung Kang, Hsiang Hsu, Aaron J. Young
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A002, September 30–October 3, 2018
Paper No: DSCC2018-9198
DOI: https://doi.org/10.1115/DSCC2018-9198
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Topics: Design, Exoskeleton devices, Torque, Testing, Control equipment, Actuators, Control algorithms, Glass reinforced plastics, Kinematics, Mechanical admittance
Proceedings Papers

Design and Evaluation of a Proportional Myoelectric Controller for Hip Exoskeletons During Walking

Hsiang Hsu, Inseung Kang, Aaron J. Young
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T13A005, September 30–October 3, 2018
Paper No: DSCC2018-9226
DOI: https://doi.org/10.1115/DSCC2018-9226
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Topics: Control equipment, Design, Exoskeleton devices, Torque, Electromyography, Actuators, Feedback, Kinematics, Muscle, Performance
Proceedings Papers

A Bowden Cable-Based Series Elastic Actuation Module for Assessing the Human Wrist

Andrew Erwin, Nick Moser, Craig G. McDonald, Marcia K. O’Malley
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A001, September 30–October 3, 2018
Paper No: DSCC2018-8963
DOI: https://doi.org/10.1115/DSCC2018-8963
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Topics: Cables, Biomechanics, Torque, Actuators, Design, Exoskeleton devices, Kinematics, Motors, Stiffness, Torque control
Proceedings Papers

Design Optimization of RML Glove for Improved Grasp Performance

Teja Vanteddu, Bijo Sebastian, Pinhas Ben-Tzvi
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A004, September 30–October 3, 2018
Paper No: DSCC2018-9004
DOI: https://doi.org/10.1115/DSCC2018-9004
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Topics: Design, Optimization, Exoskeleton devices, Computer-aided design, Grasping, Kinematics, Linkages, Rehabilitation devices, Testing
Proceedings Papers

Control Strategy for an Assistive Exoskeleton for Sit-to-Stand Transition

Gaurav Patil, Lillian M. Rigoli, Ameya Chamnikar, Amanda Miller, Anca Ralescu, Adam W. Kiefer, Michael J. Richardson, Tamara Lorenz, Manish Kumar
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T30A005, October 11–13, 2017
Paper No: DSCC2017-5163
DOI: https://doi.org/10.1115/DSCC2017-5163
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Topics: Exoskeleton devices, Control equipment, Engineering simulation, Errors, Knee, Modeling, Robustness, Simulation, Toilets
Proceedings Papers

Trajectory Generation for a Lower Limb Exoskeleton for Sit-to-Stand Transition Using a Genetic Algorithm

Ameya S. Chamnikar, Gaurav Patil, Mohammadreza Radmanesh, Manish Kumar
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T36A004, October 11–13, 2017
Paper No: DSCC2017-5261
DOI: https://doi.org/10.1115/DSCC2017-5261
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Topics: Exoskeleton devices, Genetic algorithms, Trajectories (Physics), Control equipment, Degrees of freedom, Center of mass, Dynamic systems, Dynamics (Mechanics), Engineering simulation, Feedback
Proceedings Papers

Using a Redundant Planar Hip Exoskeleton to Reduce Human-Device Interface Forces

David Schmitthenner, Samuel H. Shoemaker, Anne E. Martin
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T36A006, October 11–13, 2017
Paper No: DSCC2017-5378
DOI: https://doi.org/10.1115/DSCC2017-5378
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Topics: Exoskeleton devices, Shear (Mechanics), Engineering simulation, Simulation, Soft tissues, Degrees of freedom, Design, Robotics, Rotation
Proceedings Papers

Design of a Passive Exoskeleton Knee to Assist Toe Clearance

Shang-Li Wu, Homayoon Kazerooni
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T38A003, October 11–13, 2017
Paper No: DSCC2017-5263
DOI: https://doi.org/10.1115/DSCC2017-5263
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Topics: Clearances (Engineering), Design, Exoskeleton devices, Knee, Buckling, Engineering prototypes, Linkages, Orthotics, Prostheses, Springs
Proceedings Papers

Development of a Novel Shoulder Exoskeleton Using Parallel Actuation and Slip

Justin Hunt, Panagiotis Artemiadis, Hyunglae Lee
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T06A008, October 12–14, 2016
Paper No: DSCC2016-9894
DOI: https://doi.org/10.1115/DSCC2016-9894
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Topics: Exoskeleton devices, Scanning probe microscopy, Actuators, Inertia (Mechanics), Kinematics, Architecture, Degrees of freedom, Manipulators, Mechanical admittance, Stiffness
Proceedings Papers

Multi Degree-of-Freedom Hydraulic Human Power Amplifier With Rendering of Assistive Dynamics

Sangyoon Lee, Fredrik Eskilsson, Perry Y. Li
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T07A002, October 12–14, 2016
Paper No: DSCC2016-9781
DOI: https://doi.org/10.1115/DSCC2016-9781
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Topics: Degrees of freedom, Dynamics (Mechanics), Rendering, Actuators, Control equipment, Energy storage, Exoskeleton devices, Flow (Dynamics), Pressure
Proceedings Papers

Assist-as-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation

Priyanshu Agarwal, Benito R. Fernandez, Ashish D. Deshpande
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T42A002, October 28–30, 2015
Paper No: DSCC2015-9790
DOI: https://doi.org/10.1115/DSCC2015-9790
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Topics: Control equipment, Exoskeleton devices, Engineering prototypes, Feedforward control, Finger joints (Carpentry), Torque, Trajectories (Physics)
Proceedings Papers

Proportional sEMG Based Robotic Assistance in an Isolated Wrist Movement

Edward J. Artz, Amy A. Blank, Marcia K. O’Malley
Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T27A011, October 28–30, 2015
Paper No: DSCC2015-9979
DOI: https://doi.org/10.1115/DSCC2015-9979
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Topics: Calibration, Control equipment, Electromyography, Engines, Errors, Exoskeleton devices, Motors, Muscle, Patient treatment, Robotics
Proceedings Papers

Adaptive Robust Cascade Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation

Shan Chen, Bin Yao, Zheng Chen, Xiaocong Zhu, Shiqiang Zhu
Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T33A006, October 28–30, 2015
Paper No: DSCC2015-9825
DOI: https://doi.org/10.1115/DSCC2015-9825
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Topics: Cascades (Fluid dynamics), Exoskeleton devices, Force control, Control equipment, Machinery, Uncertainty, Algorithms, Dynamics (Mechanics), Robust control, Springs
Proceedings Papers

Torque Estimation in a Wrist Rehabilitation Robot Using a Nonlinear Disturbance Observer

Mohammadhossein Saadatzi, David C. Long, Ozkan Celik
Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T18A001, October 28–30, 2015
Paper No: DSCC2015-9717
DOI: https://doi.org/10.1115/DSCC2015-9717
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Topics: Robots, Torque, Algorithms, Dynamic models, Degrees of freedom, Exoskeleton devices, Friction, Robot dynamics, Sensors, Trajectories (Physics)