Search Results - "REMY, David C."

"Body-In-The-Loop": Optimizing Device Parameters Using Measures of Instantaneous Energetic Cost by Felt, Wyatt, Selinger, Jessica C, Donelan, J Maxwell, Remy, C David

“…This paper demonstrates methods for the online optimization of assistive robotic devices such as powered prostheses, orthoses and exoskeletons. Our algorithms…”
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Evaluating physiological signal salience for estimating metabolic energy cost from wearable sensors by Ingraham, Kimberly A, Ferris, Daniel P, Remy, C David

“…Body-in-the-loop optimization algorithms have the capability to automatically tune the parameters of robotic prostheses and exoskeletons to minimize the…”
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Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic control by Koller, Jeffrey R, Remy, C David, Ferris, Daniel P

“…Controllers for assistive robotic devices can be divided into two main categories: controllers using neural signals and controllers using mechanically…”
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Bioinspired preactivation reflex increases robustness of walking on rough terrain by Bunz, Elsa K., Haeufle, Daniel F. B., Remy, C. David, Schmitt, Syn

“…Walking on unknown and rough terrain is challenging for (bipedal) robots, while humans naturally cope with perturbations. Therefore, human strategies serve as…”
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An inductance-based sensing system for bellows-driven continuum joints in soft robots by Felt, Wyatt, Telleria, Maria J., Allen, Thomas F., Hein, Gabriel, Pompa, Jonathan B., Albert, Kevin, Remy, C. David

“…In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing…”
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Motor Modules are Impacted by the Number of Reaching Directions Included in the Analysis by Augenstein, Thomas E., Washabaugh, Edward P., Remy, C. David, Krishnan, Chandramouli

“…Muscle synergy analysis is commonly used to study how the nervous system coordinates the activation of a large number of muscles during human reaching. In…”
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Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators by Bruder, Daniel, Sedal, Audrey, Vasudevan, Ram, Remy, C. David

“…The compliant structure of soft robotic systems enables a variety of novel capabilities in comparison to traditional rigid-bodied robots. A subclass of soft…”
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On the Dynamic Similarity Between Bipeds and Quadrupeds: A Case Study on Bounding by Zhenyu Gan, Ziyuan Jiao, Remy, C. David

“…In this letter, we identify passive dynamic bounding gaits of quadrupedal robots and investigate the dynamic similarities between these gaits and those of a…”
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Stability Analysis of Passive Dynamic Walking of Quadrupeds by Remy, C. David, Buffinton, Keith, Siegwart, Roland

“…We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear…”
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Data-Driven Control of Soft Robots Using Koopman Operator Theory by Bruder, Daniel, Fu, Xun, Gillespie, R. Brent, Remy, C. David, Vasudevan, Ram

“…Controlling soft robots with precision is a challenge due to the difficulty of constructing models that are amenable to model-based control design techniques…”
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Editorial: Assessing Bipedal Locomotion: Towards Replicable Benchmarks for Robotic and Robot-Assisted Locomotion by Torricelli, Diego, Veneman, Jan, Gonzalez-Vargas, Jose, Mombaur, Katja, Remy, C. David

“…Editorial on the Research Topic Assessing Bipedal Locomotion: Towards Replicable Benchmarks for Robotic and Robot-Assisted Locomotion Introduction…”
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Comparing neural control and mechanically intrinsic control of powered ankle exoskeletons by Koller, Jeffrey R., David Remy, C., Ferris, Daniel P.

“…There are an infinite number of ways to control an assistive robotic device; however, there is little consensus on which ways are better than others and why…”
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Ambiguous collision outcomes and sliding with infinite friction in models of legged systems by Remy, C David

“…This work explores the collision process at foot contact in models of legged robots. In particular, we highlight that for legged systems the widely used…”
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Contraction Sensing With Smart Braid McKibben Muscles by Felt, Wyatt, Khai Yi Chin, Remy, C. David

“…The inherent compliance of soft fluidic actuators makes them attractive for use in wearable devices and soft robotics. Their flexible nature permits them to be…”
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Selecting gaits for economical locomotion of legged robots by Xi, Weitao, Yesilevskiy, Yevgeniy, Remy, C. David

“…This paper explores the benefits of using multiple gaits in a single robot. Inspired by nature, where humans and animals use different gaits to increase their…”
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Using wearable physiological sensors to predict energy expenditure by Ingraham, Kimberly A., Ferris, Daniel P., David Remy, C.

“…Lower-limb assistive robotic devices are often evaluated by measuring a reduction in the user's energy cost. Using indirect calorimetry to estimate energy cost…”
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All common bipedal gaits emerge from a single passive model by Gan, Zhenyu, Yesilevskiy, Yevgeniy, Zaytsev, Petr, Remy, C. David

“…In this paper, we systematically investigate passive gaits that emerge from the natural mechanical dynamics of a bipedal system. We use an energetically…”
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Spine morphology and energetics: how principles from nature apply to robotics by Yesilevskiy, Yevgeniy, Yang, William, Remy, C David

“…Inspired by the locomotive advantages that an articulated spine enables in quadrupedal animals, we explore and quantify the energetic effect that an…”
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Comparison and experimental validation of predictive models for soft, fiber-reinforced actuators by Sedal, Audrey, Wineman, Alan, Gillespie, R. Brent, Remy, C. David

“…Successful soft robot modeling approaches appearing in the recent literature have been based on a variety of distinct theories, including traditional robotic…”
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Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeleton by Koller, Jeffrey R, Jacobs, Daniel A, Ferris, Daniel P, Remy, C David

“…Robotic ankle exoskeletons can provide assistance to users and reduce metabolic power during walking. Our research group has investigated the use of…”
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