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Proceedings Papers

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9054
https://doi.org/10.1115/DSCC2018-9054
View Paper titled, Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator
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Topics: Actuators, Control modeling, Stiffness, Design, Dynamics (Mechanics), Computational methods, Control systems, Deflection, Electromechanical actuators, Energy storage
Proceedings Papers

A Robotic Ankle-Foot Orthosis for Daily-Life Assistance and Rehabilitation

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Md Rejwanul Haque, Hao Zheng, Saroj Thapa, Geza Kogler, Xiangrong Shen
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, V001T07A010, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9242
https://doi.org/10.1115/DSCC2018-9242
View Paper titled, A Robotic Ankle-Foot Orthosis for Daily-Life Assistance and Rehabilitation
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Topics: Orthotics, Robotics, Design, Torque, Control equipment, Engineering prototypes, Engines, Friction, Gears, Motors
Proceedings Papers

Reachability Analysis for Robustness Evaluation of the Sit-to-Stand Movement for Powered Lower Limb Orthoses

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Octavio Narvaez-Aroche, Andrew Packard, Pierre-Jean Meyer, Murat Arcak
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, V001T07A006, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9066
https://doi.org/10.1115/DSCC2018-9066
View Paper titled, Reachability Analysis for Robustness Evaluation of the Sit-to-Stand Movement for Powered Lower Limb Orthoses
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Topics: Orthotics, Robustness, Approximation, Center of mass, Dynamics (Mechanics), Modeling, Robots, Space, Uncertainty
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

Motion Planning of the Sit to Stand Movement for Powered Lower Limb Orthoses

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Octavio Narvaez-Aroche, Andrew Packard, Murat Arcak
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, V001T38A004, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5289
https://doi.org/10.1115/DSCC2017-5289
View Paper titled, Motion Planning of the Sit to Stand Movement for Powered Lower Limb Orthoses
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Topics: Orthotics, Path planning, Robots, Center of mass, Control equipment, Design, Equations of motion, Feedback, Kinematics, Modeling
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

Simulation Based Design of a Pediatric-Sized Hydraulic Ankle-Foot Orthosis

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Brett Cullen Neubauer, William K. Durfee
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T21A006, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9739
https://doi.org/10.1115/DSCC2016-9739
View Paper titled, Simulation Based Design of a Pediatric-Sized Hydraulic Ankle-Foot Orthosis
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Topics: Design, Orthotics, Pediatrics, Simulation, Stiffness, Additive manufacturing, Computers, Engineering prototypes, Health care, Manifolds
Proceedings Papers

Active Control of MR Wearable Robotic Orthosis for Pathological Tremor Suppression

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David Case, Behzad Taheri, Edmond Richer
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, V003T42A004, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9874
https://doi.org/10.1115/DSCC2015-9874
View Paper titled, Active Control of MR Wearable Robotic Orthosis for Pathological Tremor Suppression
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Topics: Orthotics, Robotics, Dampers, Energy consumption, Actuators, Control algorithms, Dynamic response, Essential tremors, Fluids, Musculoskeletal system
Proceedings Papers

A Discrete-Time Nonlinear Estimator for an Orthosis-Aided Gait

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Ashwin Dani, Nitin Sharma
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, V001T04A003, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6161
https://doi.org/10.1115/DSCC2014-6161
View Paper titled, A Discrete-Time Nonlinear Estimator for an Orthosis-Aided Gait
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Topics: Orthotics, Uncertainty, Algorithms, Degrees of freedom, Errors, Filters, Measurement units and standards, Modeling, Noise (Sound), Nonlinear estimation
Proceedings Papers

Design of a Minimally Actuated Medical Exoskeleton With Mechanical Swing-Phase Gait Generation and Sit-Stand Assistance

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Wayne Yi-Wei Tung, Michael McKinley, Minerva V. Pillai, Jason Reid, Homayoon Kazerooni
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T28A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4038
https://doi.org/10.1115/DSCC2013-4038
View Paper titled, Design of a Minimally Actuated Medical Exoskeleton With Mechanical Swing-Phase Gait Generation and Sit-Stand Assistance
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Topics: Design, Exoskeleton devices, Knee, Degrees of freedom, Actuators, Biomimetics, Dynamics (Mechanics), Engines, Hardware, Motors
Proceedings Papers

Theoretical Development and Experimental Validation of an Adaptive Controller for Tremor Suppression at Musculoskeletal Level

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Behzad Taheri, David Case, Edmond Richer
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T22A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3954
https://doi.org/10.1115/DSCC2013-3954
View Paper titled, Theoretical Development and Experimental Validation of an Adaptive Controller for Tremor Suppression at Musculoskeletal Level
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Topics: Control equipment, Musculoskeletal system, Algorithms, Biomedicine, Dynamics (Mechanics), Electromagnetic spectrum, Exoskeleton devices, Orthotics, Pneumatic cylinders
Proceedings Papers

A Lumped-Parameter Model for Dynamic MR Damper Control

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David Case, Behzad Taheri, Edmond Richer
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T14A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3961
https://doi.org/10.1115/DSCC2013-3961
View Paper titled, A Lumped-Parameter Model for Dynamic MR Damper Control
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Topics: Dampers, Pistons, Control algorithms, Electromagnets, Experimental analysis, Finite element analysis, Fluids, Frequency response, Orthotics, Particulate matter
Proceedings Papers

Modeling and Simulation of Human Walking With Wearable Powered Assisting Device

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Siniša Slavnić, Adrian Leu, Danijela Ristić-Durrant, Axel Gräser
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T45A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4049
https://doi.org/10.1115/DSCC2013-4049
View Paper titled, Modeling and Simulation of Human Walking With Wearable Powered Assisting Device
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Topics: Modeling, Simulation, Robots, Computer software, Control algorithms, Dynamics (Mechanics), Matlab, Orthotics, Performance evaluation, Robotics
Proceedings Papers

Design of a Stirling Thermocompressor for a Pneumatically Actuated Ankle-Foot Orthosis

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Nithin S. Kumar, Mark E. Hofacker, Eric J. Barth
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T09A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3995
https://doi.org/10.1115/DSCC2013-3995
View Paper titled, Design of a Stirling Thermocompressor for a Pneumatically Actuated Ankle-Foot Orthosis
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Topics: Design, Ejectors, Orthotics, Pistons, Engineering prototypes, Engines, Fuels, Heat transfer, Modeling, Motors
Proceedings Papers

On the Design and Control of Exoskeleton Knee

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Wayne Tung, H. Kazerooni, Dong Jin Hyun, Stephan McKinley
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T09A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4035
https://doi.org/10.1115/DSCC2013-4035
View Paper titled, On the Design and Control of Exoskeleton Knee
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Topics: Design, Exoskeleton devices, Knee, Torque, Biomedicine, Braking, Defense industry, Friction, Orthotics
Proceedings Papers

Optimized Control of Different Actuation Strategies for FES and Orthosis Aided Gait

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Nicholas Kirsch, Naji A. Alibeji, Nitin Sharma
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T09A006, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4080
https://doi.org/10.1115/DSCC2013-4080
View Paper titled, Optimized Control of Different Actuation Strategies for FES and Orthosis Aided Gait
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Topics: Orthotics, Muscle, Fatigue, Optimization, Torque, Computation, Dynamics (Mechanics), Tracking control, Trajectories (Physics), Weight (Mass)
Proceedings Papers

Design and Development of a Human Arm Joint Simulator for Evaluation of Active Assistive Devices Control Algorithms

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Behzad Taheri, David Case, Edmond Richer
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 707-714, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8707
https://doi.org/10.1115/DSCC2012-MOVIC2012-8707
View Paper titled, Design and Development of a Human Arm Joint Simulator for Evaluation of Active Assistive Devices Control Algorithms
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Topics: Control algorithms, Design, Damping, Stiffness, Torque, Artificial limbs, Biological tissues, Finger joints (Carpentry), Inertia (Mechanics), Muscle
Proceedings Papers

Gait Mode Recognition Using an Inertial Measurement Unit to Control an Ankle-Foot Orthosis During Stair Ascent and Descent

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Yifan David Li, Elizabeth T. Hsiao-Wecksler
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 743-752, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8651
https://doi.org/10.1115/DSCC2012-MOVIC2012-8651
View Paper titled, Gait Mode Recognition Using an Inertial Measurement Unit to Control an Ankle-Foot Orthosis During Stair Ascent and Descent
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Topics: Measurement units and standards, Orthotics, Stairs, Control algorithms, Control equipment, Muscle, Patient treatment, Prostheses, Rehabilitation devices, Risk
Proceedings Papers

Simulation and Experimental Analysis of a Portable Powered Ankle-Foot Orthosis Control

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Yifan Li, K. Alex Shorter, Elizabeth T. Hsiao-Wecksler, Timothy Bretl
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1, 77-84, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6119
https://doi.org/10.1115/DSCC2011-6119
View Paper titled, Simulation and Experimental Analysis of a Portable Powered Ankle-Foot Orthosis Control
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Topics: Experimental analysis, Orthotics, Simulation, Hardware, Solenoids, Torque, Valves, Design, Fluids, Modeling
Proceedings Papers

Active Tremor Estimation and Suppression in Human Elbow Joint

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Behzad Taheri, David Case, Edmond Richer
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 115-120, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6185
https://doi.org/10.1115/DSCC2011-6185
View Paper titled, Active Tremor Estimation and Suppression in Human Elbow Joint
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Topics: Human elbow, Algorithms, Computer simulation, Control algorithms, Control equipment, Intention tremors, Orthotics