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Proceedings Papers

Monolithic Leg Design With Compliant Knee Joint for Bipedal Robots: Design and Preliminary Results

Ciaphus Rouse, Trevor Warnix, Martin Garcia, Ayse Tekes

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, V001T18A003, October 5–7, 2020

Paper No: DSCC2020-3259

DOI: https://doi.org/10.1115/DSCC2020-3259

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Topics: Design, Knee, Robots

Proceedings Papers

Ankle-Knee-Hip Robot Hopping on an Elastic Foundation and a Viscoelastic Foundation With Inertia

Amer Allafi, Ranjan Mukherjee

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, V001T03A007, October 8–11, 2019

Paper No: DSCC2019-9072

DOI: https://doi.org/10.1115/DSCC2019-9072

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Topics: Inertia (Mechanics), Knee, Robots, Control equipment, Errors, Dynamics (Mechanics), Energy dissipation, Energy levels (Quantum mechanics), Simulation results, Steady state

Proceedings Papers

Apex Height Control of a Two-DOF Ankle-Knee-Hip Robot Hopping on a Rigid Foundation

Amer Allafi, Ranjan Mukherjee

Paper No: DSCC2019-8921

DOI: https://doi.org/10.1115/DSCC2019-8921

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Topics: Knee, Robots, Control equipment, Damping, Center of mass, Energy dissipation, Simulation results

Proceedings Papers

Stochastic Optimization of Impedance Parameters for a Powered Prosthesis Using a 3D Simulation Environment

Jonathan Camargo, Krishan Bhakta, Aaron Young

Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T29A006, September 30–October 3, 2018

Paper No: DSCC2018-9206

DOI: https://doi.org/10.1115/DSCC2018-9206

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Topics: Optimization, Prostheses, Simulation, Control equipment, Trajectories (Physics), Errors, Kinematics, Knee, Robotics

Proceedings Papers

Development and Experimental Validation of an Energy Regenerative Prosthetic Knee Controller and Prototype

Poya Khalaf, Holly Warner, Elizabeth Hardin, Hanz Richter, Dan Simon

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, V001T07A008, September 30–October 3, 2018

Paper No: DSCC2018-9091

DOI: https://doi.org/10.1115/DSCC2018-9091

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Topics: Artificial limbs, Control equipment, Engineering prototypes, Knee, Prostheses, Cycles, Damping, Design, Ultracapacitors

Proceedings Papers

Control and Experimental Validation of a Powered Knee and Ankle Prosthetic Device

Krishan Bhakta, Jonathan Camargo, Aaron J. Young

Paper No: DSCC2018-9218

DOI: https://doi.org/10.1115/DSCC2018-9218

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Topics: Knee, Prostheses, Control equipment, Actuators, Design, Kinematics, Machinery, Seas, Testing, Torque control

Proceedings Papers

Human-Inspired Algebraic Curves for Wearable Robot Control

Alireza Mohammadi, Robert D. Gregg

Paper No: DSCC2018-9061

DOI: https://doi.org/10.1115/DSCC2018-9061

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Topics: Algebra, Robots, Control equipment, Cycles, Fittings, Algorithms, Design, Engineering design processes, Knee, Pattern recognition

Proceedings Papers

Experimental Walking to Running Transition

Salvador Alcorta, Dumitru I. Caruntu

Paper No: DSCC2018-9041

DOI: https://doi.org/10.1115/DSCC2018-9041

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Topics: Displacement, Knee

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

Design of a Passive Exoskeleton Knee to Assist Toe Clearance

Shang-Li Wu, Homayoon Kazerooni

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

A Robotic Knee Orthosis for Sit-to-Stand Assistance

Saroj Thapa, Hao Zheng, Geza F. Kogler, Xiangrong Shen

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, V001T07A004, October 12–14, 2016

Paper No: DSCC2016-9891

DOI: https://doi.org/10.1115/DSCC2016-9891

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Topics: Knee, Orthotics, Robotics, Torque, Design, Biomechanics, Control equipment, Engines, Manufacturing, Motors

Proceedings Papers

The Effects of Cutaneous Haptic Feedback on EMG-Based Motion Control of a Transfemoral Prosthesis

J. Miles Canino, Kevin B. Fite

Paper No: DSCC2016-9778

DOI: https://doi.org/10.1115/DSCC2016-9778

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Topics: Electromyography, Feedback, Haptics, Motion control, Prostheses, Artificial limbs, Bearings, Degrees of freedom, Engines, Errors

Proceedings Papers

Walking-Stair Climbing Control for Powered Knee Prostheses

Molei Wu, Xiangrong Shen

Paper No: DSCC2016-9895

DOI: https://doi.org/10.1115/DSCC2016-9895

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Topics: Knee joint prostheses, Stairs, Prostheses, Artificial limbs, Biomechanics, Knee, Locomotives, Testing

Proceedings Papers

Expectation Maximization Method to Identify an Electrically Stimulated Musculoskeletal Model

Harish Ravichandar, Ashwin Dani, Jacquelyn Khadijah-Hajdu, Nicholas Kirsch, Qiang Zhong, Nitin Sharma

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, V002T23A009, October 28–30, 2015

Paper No: DSCC2015-9956

DOI: https://doi.org/10.1115/DSCC2015-9956

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Topics: Musculoskeletal system, Algorithms, Knee, Dynamic models, Design, Dynamics (Mechanics), Muscle

Proceedings Papers

Nonlinear Model Predictive Control of Functional Electrical Stimulation

Nicholas A. Kirsch, Naji A. Alibeji, Nitin Sharma

Paper No: DSCC2015-9762

DOI: https://doi.org/10.1115/DSCC2015-9762

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Topics: Predictive control, Fatigue, Muscle, Optimal control, Control equipment, Knee, Stability

Proceedings Papers

Design of a 6-DOF Robotic Gait Training System With Closed-Chain Foot Initiated Kinematics Control

Wei Liu, John Kovaleski, Marcus Hollis

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, V001T09A001, October 28–30, 2015

Paper No: DSCC2015-9617

DOI: https://doi.org/10.1115/DSCC2015-9617

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Topics: Chain, Design, Kinematics, Robotics, Robots, Computer software, Control algorithms, Engines, Knee, Motors

Proceedings Papers

An Optimization-Based Approach for Prosthesis Dynamic Modeling and Parameter Identification

Ting Yang, Fen Wu, Ming Liu, He (Helen) Huang

Paper No: DSCC2015-9637

DOI: https://doi.org/10.1115/DSCC2015-9637

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Topics: Dynamic modeling, Optimization, Prostheses, Knee, Dynamics (Mechanics), Errors, Artificial limbs, Control equipment, Torque

Proceedings Papers

Model Predictive Control-Based Dynamic Control Allocation in a Hybrid Neuroprosthesis

Nicholas A. Kirsch, Naji A. Alibeji, Nitin Sharma

Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T43A003, October 22–24, 2014

Paper No: DSCC2014-6133

DOI: https://doi.org/10.1115/DSCC2014-6133

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Topics: Actuators, Control equipment, Design, Electric motors, Fatigue, Knee, Muscle, Predictive control, Quadratic programming, Redundancy (Engineering)

Proceedings Papers

Sensitivity Comparison to Loop Latencies Between Damping Versus Stiffness Feedback Control Action in Distributed Controllers

Ye Zhao, Nicholas Paine, Luis Sentis

Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T11A003, October 22–24, 2014

Paper No: DSCC2014-6207

DOI: https://doi.org/10.1115/DSCC2014-6207

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Topics: Control equipment, Damping, Feedback, Stiffness, Stability, Actuators, Closed loop systems, Errors, Knee, NASA

Proceedings Papers

An Architecture for Direct Measurement of Transfemoral Prosthesis Gait Beyond the Gait Laboratory Setting

Jonathan A. Gacioch, Kevin B. Fite, Adam K. Arabian, Toshiki Kobayashi, David A. Boone, Michael S. Orendurff

Paper No: DSCC2014-6268

DOI: https://doi.org/10.1115/DSCC2014-6268

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Topics: Prostheses, Knee, Artificial limbs, Instrumentation, Composite materials, Data acquisition systems, Dynamic light scattering, Kinematics, Plates (structures), Sensors

NARROW

Monolithic Leg Design With Compliant Knee Joint for Bipedal Robots: Design and Preliminary Results

Ankle-Knee-Hip Robot Hopping on an Elastic Foundation and a Viscoelastic Foundation With Inertia

Apex Height Control of a Two-DOF Ankle-Knee-Hip Robot Hopping on a Rigid Foundation

Stochastic Optimization of Impedance Parameters for a Powered Prosthesis Using a 3D Simulation Environment

Development and Experimental Validation of an Energy Regenerative Prosthetic Knee Controller and Prototype

Control and Experimental Validation of a Powered Knee and Ankle Prosthetic Device

Human-Inspired Algebraic Curves for Wearable Robot Control

Experimental Walking to Running Transition

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

Design of a Passive Exoskeleton Knee to Assist Toe Clearance

A Robotic Knee Orthosis for Sit-to-Stand Assistance

The Effects of Cutaneous Haptic Feedback on EMG-Based Motion Control of a Transfemoral Prosthesis

Walking-Stair Climbing Control for Powered Knee Prostheses

Expectation Maximization Method to Identify an Electrically Stimulated Musculoskeletal Model

Nonlinear Model Predictive Control of Functional Electrical Stimulation

Design of a 6-DOF Robotic Gait Training System With Closed-Chain Foot Initiated Kinematics Control

An Optimization-Based Approach for Prosthesis Dynamic Modeling and Parameter Identification

Model Predictive Control-Based Dynamic Control Allocation in a Hybrid Neuroprosthesis

Sensitivity Comparison to Loop Latencies Between Damping Versus Stiffness Feedback Control Action in Distributed Controllers

An Architecture for Direct Measurement of Transfemoral Prosthesis Gait Beyond the Gait Laboratory Setting

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