Search Results - "Schmiedeler, James P"

Terrain-blind walking of planar underactuated bipeds via velocity decomposition-enhanced control by Fevre, Martin, Goodwine, Bill, Schmiedeler, James P

“…In this article, we develop and assess a novel approach for the control of underactuated planar bipeds that is based on velocity decomposition. The new…”
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Finite-State Impedance and Direct Myoelectric Control For Robotic Ankle Prostheses: Comparing their Performance and Exploring their Combination by Posh, Ryan R., Schmiedeler, James P., Wensing, Patrick M.

“…Non-volitional control, such as finite-state machine (FSM) impedance control, does not directly incorporate user intent signals, while volitional control, like…”
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Lower-Limb Myoelectric Calibration Postures for Transtibial Prostheses by Posh, Ryan R., Barry, Emmalynn C., Schmiedeler, James P., Wensing, Patrick M.

“…The use of an agonist-antagonist muscle pair for myoelectric control of a transtibial prosthesis requires normalizing the myoelectric signals and identifying…”
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Effects of User Intent Changes on Onboard Sensor Measurements During Exoskeleton-Assisted Walking by Gambon, Taylor M., Schmiedeler, James P., Wensing, Patrick M.

“…Adoption of exoskeletons for rehabilitation and locomotion outside the physical therapy clinic has been limited by relatively primitive methods for identifying…”
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Effects of Filtering the Center of Pressure Feedback Provided in Visually Guided Mediolateral Weight Shifting by Kennedy, Michael W, Crowell, Charles R, Villano, Michael, Schmiedeler, James P

“…Thirty healthy adults completed a mediolateral weight-shifting balance task in which they were instructed to shift their weight to visually displayed target…”
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Relative efficacy of various strategies for visual feedback in standing balance activities by Kennedy, Michael W., Crowell, Charles R., Striegel, Aaron D., Villano, Michael, Schmiedeler, James P.

“…Seventy-nine young, healthy adults were led through static balance and weight-shifting activities in order to study the effects of visual feedback on balance…”
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Data-efficient human walking speed intent identification by Higgins, Taylor M, Bresingham, Kaitlyn J, Schmiedeler, James P, Wensing, Patrick M

“…The ability to accurately identify human gait intent is a challenge relevant to the success of many applications in robotics, including, but not limited to,…”
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A unified framework for measuring interplane and intraplane coupling in spatial biped robots by Fevre, Martin, Goodwine, Bill, Schmiedeler, James P.

“…While fully actuated biped robots can control each degree of freedom independently, coupling must be used during phases of underactuation to maintain dynamic…”
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Predicting human walking gaits with a simple planar model by Martin, Anne E, Schmiedeler, James P

“…Abstract Models of human walking with moderate complexity have the potential to accurately capture both joint kinematics and whole body energetics, thereby…”
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Design and experimental implementation of a hybrid zero dynamics-based controller for planar bipeds with curved feet by Martin, Anne E., Post, David C., Schmiedeler, James P.

“…This paper extends the use of virtual constraints and hybrid zero dynamics (HZD), a successful control strategy for point-foot bipeds, to the design of…”
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Reaction Wheel Actuation for Improving Planar Biped Walking Efficiency by Brown, Travis L., Schmiedeler, James P.

“…Reaction wheel systems (RWSs) are beneficial in improving bipedal walking stability, and theoretical work has shown that they can also improve the efficiency…”
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Robustness and efficiency insights from a mechanical coupling metric for ankle-actuated biped robots by Chen, Tan, Schmiedeler, James P., Goodwine, Bill

“…This paper presents results pertaining to the coupling between the actuated and unactuated degrees of freedom for biped robots. It is focused on revealing the…”
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The effects of foot geometric properties on the gait of planar bipeds walking under HZD-based control by Martin, Anne E., Post, David C., Schmiedeler, James P.

“…It has been hypothesized by many that foot design can influence gait. This idea was investigated in both simulation and hardware for the five-link, planar…”
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The leading joint hypothesis for spatial reaching arm motions by Ambike, Satyajit, Schmiedeler, James P.

“…The leading joint hypothesis (LJH), developed for planar arm reaching, proposes that the interaction torques experienced by the proximal joint are low compared…”
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Stability and Gait Switching of Underactuated Biped Walkers by Fevre, Martin, Lin, Hai, Schmiedeler, James P.

“…This paper introduces a new gait switching approach for underactuated biped walkers. The switching condition relies on a reduced region of attraction - that of…”
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Design and Experimental Validation of a Velocity Decomposition-Based Controller for Underactuated Planar Bipeds by Fevre, Martin, Goodwine, Bill, Schmiedeler, James P.

“…This letter extends the use of the velocity decomposition metric for underactuated mechanical systems to the design of an enhanced hybrid zero dynamics…”
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Rapid Bipedal Gait Optimization in CasADi by Fevre, Martin, Wensing, Patrick M., Schmiedeler, James P.

“…This paper shows how CasADi's state-of-the-art implementation of algorithmic differentiation can be leveraged to formulate and efficiently solve gait…”
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Invariant geometric characteristics of spatial arm motion by Ambike, Satyajit, Schmiedeler, James P.

“…This paper examines up to third-order geometric properties of wrist path and the first-order property of wrist trajectory (wrist speed) for spatial pointing…”
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Hybrid Volitional Control as a Framework for Lower-Limb Prosthetic Control: A Simulation Study by Posh, Ryan R., Schmiedeler, James P., Wensing, Patrick M.

“…Realizing the potential of active lower-limb pros-theses to increase user mobility and efficiency requires safe, reliable, stable, and intuitive control…”
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Design of progressively folding thin-walled tubular components using compliant mechanism synthesis by Bandi, Punit, Detwiler, Duane, Schmiedeler, James P., Tovar, Andrés

“…This work introduces a design method for the progressive collapse of thin-walled tubular components under axial and oblique impacts. The proposed design method…”
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