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Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3259
https://doi.org/10.1115/DSCC2020-3259
View Paper titled, Monolithic Leg Design With Compliant Knee Joint for Bipedal Robots: Design and Preliminary Results
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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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9072
https://doi.org/10.1115/DSCC2019-9072
View Paper titled, Ankle-Knee-Hip Robot Hopping on an Elastic Foundation and a Viscoelastic Foundation With Inertia
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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

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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, V001T03A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8921
https://doi.org/10.1115/DSCC2019-8921
View Paper titled, Apex Height Control of a Two-DOF Ankle-Knee-Hip Robot Hopping on a Rigid Foundation
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Topics: Knee, Robots, Control equipment, Damping, Center of mass, Energy dissipation, Simulation results
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9091
https://doi.org/10.1115/DSCC2018-9091
View Paper titled, Development and Experimental Validation of an Energy Regenerative Prosthetic Knee Controller and Prototype
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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

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Krishan Bhakta, Jonathan Camargo, 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, V001T12A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9218
https://doi.org/10.1115/DSCC2018-9218
View Paper titled, Control and Experimental Validation of a Powered Knee and Ankle Prosthetic Device
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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

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Alireza Mohammadi, Robert D. Gregg
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, V001T11A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9061
https://doi.org/10.1115/DSCC2018-9061
View Paper titled, Human-Inspired Algebraic Curves for Wearable Robot Control
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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

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Salvador Alcorta, Dumitru I. Caruntu
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, V001T14A001, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9041
https://doi.org/10.1115/DSCC2018-9041
View Paper titled, Experimental Walking to Running Transition
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Topics: Displacement, Knee
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9206
https://doi.org/10.1115/DSCC2018-9206
View Paper titled, Stochastic Optimization of Impedance Parameters for a Powered Prosthesis Using a 3D Simulation Environment
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Topics: Optimization, Prostheses, Simulation, Control equipment, Trajectories (Physics), Errors, Kinematics, Knee, Robotics
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5163
https://doi.org/10.1115/DSCC2017-5163
View Paper titled, Control Strategy for an Assistive Exoskeleton for Sit-to-Stand Transition
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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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5263
https://doi.org/10.1115/DSCC2017-5263
View Paper titled, Design of a Passive Exoskeleton Knee to Assist Toe Clearance
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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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9891
https://doi.org/10.1115/DSCC2016-9891
View Paper titled, A Robotic Knee Orthosis for Sit-to-Stand Assistance
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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

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J. Miles Canino, Kevin B. Fite
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, V001T06A004, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9778
https://doi.org/10.1115/DSCC2016-9778
View Paper titled, The Effects of Cutaneous Haptic Feedback on EMG-Based Motion Control of a Transfemoral Prosthesis
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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

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Molei Wu, 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, V001T07A006, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9895
https://doi.org/10.1115/DSCC2016-9895
View Paper titled, Walking-Stair Climbing Control for Powered Knee Prostheses
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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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9956
https://doi.org/10.1115/DSCC2015-9956
View Paper titled, Expectation Maximization Method to Identify an Electrically Stimulated Musculoskeletal Model
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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

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Nicholas A. Kirsch, Naji A. Alibeji, 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, V002T27A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9762
https://doi.org/10.1115/DSCC2015-9762
View Paper titled, Nonlinear Model Predictive Control of Functional Electrical Stimulation
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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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9617
https://doi.org/10.1115/DSCC2015-9617
View Paper titled, Design of a 6-DOF Robotic Gait Training System With Closed-Chain Foot Initiated Kinematics Control
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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

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Ting Yang, Fen Wu, Ming Liu, He (Helen) Huang
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, V001T16A001, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9637
https://doi.org/10.1115/DSCC2015-9637
View Paper titled, An Optimization-Based Approach for Prosthesis Dynamic Modeling and Parameter Identification
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Topics: Dynamic modeling, Optimization, Prostheses, Knee, Dynamics (Mechanics), Errors, Artificial limbs, Control equipment, Torque
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6207
https://doi.org/10.1115/DSCC2014-6207
View Paper titled, Sensitivity Comparison to Loop Latencies Between Damping Versus Stiffness Feedback Control Action in Distributed Controllers
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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

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Jonathan A. Gacioch, Kevin B. Fite, Adam K. Arabian, Toshiki Kobayashi, David A. Boone, Michael S. Orendurff
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, V001T06A003, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6268
https://doi.org/10.1115/DSCC2014-6268
View Paper titled, An Architecture for Direct Measurement of Transfemoral Prosthesis Gait Beyond the Gait Laboratory Setting
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Topics: Prostheses, Knee, Artificial limbs, Instrumentation, Composite materials, Data acquisition systems, Dynamic light scattering, Kinematics, Plates (structures), Sensors
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6133
https://doi.org/10.1115/DSCC2014-6133
View Paper titled, Model Predictive Control-Based Dynamic Control Allocation in a Hybrid Neuroprosthesis
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Topics: Actuators, Control equipment, Design, Electric motors, Fatigue, Knee, Muscle, Predictive control, Quadratic programming, Redundancy (Engineering)