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Proceedings Papers

Convolutional Neural Networks for Environmentally Aware Locomotion Mode Recognition of Lower-Limb Amputees

Gholamreza Khademi, Dan Simon
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, V001T07A005, October 8–11, 2019
Paper No: DSCC2019-9180
DOI: https://doi.org/10.1115/DSCC2019-9180
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Topics: Artificial neural networks, Prostheses, Design, Sensors, Stairs, Algorithms, Control equipment, Image formation, Intelligent control systems, Measurement units and standards
Proceedings Papers

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

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
Paper No: DSCC2018-9054
DOI: https://doi.org/10.1115/DSCC2018-9054
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Topics: Actuators, Control modeling, Stiffness, Design, Dynamics (Mechanics), Computational methods, Control systems, Deflection, Electromechanical actuators, Energy storage
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
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
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

Gait Emulator for Evaluation of a Powered Ankle-Foot Prosthesis

Evandro Ficanha, Houman Dallali, Mo Rastgaar
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, V001T36A001, October 11–13, 2017
Paper No: DSCC2017-5089
DOI: https://doi.org/10.1115/DSCC2017-5089
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Topics: Prostheses, Degrees of freedom, Hybrid control, Kinematics, Control systems, Design, Uncertainty
Proceedings Papers

Nonlinear Tracking Control of an Antagonistic Muscle Pair Actuated System

Holly Warner, Hanz Richter, Antonie van den Bogert
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, V001T38A006, October 11–13, 2017
Paper No: DSCC2017-5384
DOI: https://doi.org/10.1115/DSCC2017-5384
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Topics: Muscle, Tracking control, Control equipment, Simulation, Actuators, Dynamics (Mechanics), Feedback, Hardware, Hazards, Machinery
Proceedings Papers

Design of a Passive Exoskeleton Knee to Assist Toe Clearance

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
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

Dynamic Modeling of a 2-DOF Cable Driven Powered Ankle-Foot Prosthesis

Houman Dallali, Evandro Ficanha, Mohammad Rastgaar Aagaah
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, V001T06A003, October 12–14, 2016
Paper No: DSCC2016-9706
DOI: https://doi.org/10.1115/DSCC2016-9706
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Topics: Cables, Dynamic modeling, Prostheses, Actuators, Dynamic models, Simulation, Artificial limbs, Degrees of freedom, Design
Proceedings Papers

Development of a Multiple Axis Robotic Platform for Ankle Studies

Varun Nalam, Hyunglae Lee
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, V001T07A005, October 12–14, 2016
Paper No: DSCC2016-9893
DOI: https://doi.org/10.1115/DSCC2016-9893
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Topics: Robotics, Control modeling, Degrees of freedom, Design, Mechanical impedance, Position control, Prostheses, Signals, Stress, Torque
Proceedings Papers

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

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
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
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
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

A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories

Siavash Rezazadeh, Robert D. Gregg
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, V001T06A007, October 12–14, 2016
Paper No: DSCC2016-9851
DOI: https://doi.org/10.1115/DSCC2016-9851
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Topics: Artificial limbs, Control equipment, Design, Engineering simulation, Feedforward control, Humanoid robots, Limit cycles, Prostheses, Robots, Robustness
Proceedings Papers

Multi-Objective Optimization of Impedance Parameters in a Prosthesis Test Robot

Poya Khalaf, Hanz Richter, Antonie J. van den Bogert, Dan Simon
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, V003T42A003, October 28–30, 2015
Paper No: DSCC2015-9848
DOI: https://doi.org/10.1115/DSCC2015-9848
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Topics: Pareto optimization, Prostheses, Robots, Errors, Design, Control equipment, Control systems, Peak load, Trajectories (Physics), Optimization
Proceedings Papers

A Continuous-Field Actuation Method for Transducing Optical Color Images to Magnetic/Eddy-Current Patterns

Kok-Meng Lee, Chun-Yeon Lin, Min Li
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, V003T45A006, October 28–30, 2015
Paper No: DSCC2015-9958
DOI: https://doi.org/10.1115/DSCC2015-9958
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Topics: Eddies (Fluid dynamics), Eddy currents (Electricity), Actuators, Energy management systems, Resolution (Optics), Damage, Design, Electric fields, Electrodes, Electromagnetic induction
Proceedings Papers

Design and Assessment of a High Speed Low Torque Joint Transmission for Use in a Partial Hand, Powered Finger Prosthesis

Anton Filatov, Ozkan Celik, Richard F. Weir
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, V002T27A006, October 28–30, 2015
Paper No: DSCC2015-9782
DOI: https://doi.org/10.1115/DSCC2015-9782
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Topics: Design, Prostheses, Torque, Cables, Gears, Engines, Mechanical drives, Motors, Durability, Finger joints (Carpentry)
Proceedings Papers

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

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
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

A Control Strategy for an Active Alignment Transtibial Prosthesis

Andrew LaPrè, Frank Sup
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, V001T18A005, October 28–30, 2015
Paper No: DSCC2015-9948
DOI: https://doi.org/10.1115/DSCC2015-9948
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Topics: Prostheses, Cycles, Artificial limbs, Control equipment, Design engineering, Dynamics (Mechanics)
Proceedings Papers

Supernumerary Robotic Fingers: An Alternative Upper-Limb Prosthesis

Faye Wu, Harry Asada
Proc. ASME. DSCC2014, Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, V002T16A009, October 22–24, 2014
Paper No: DSCC2014-6017
DOI: https://doi.org/10.1115/DSCC2014-6017
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Topics: Prostheses, Robotics, Control algorithms, Engineering prototypes, Glass jars, Grasping, Robots, Stress
Proceedings Papers

Impedance and Admittance Controller for a Multi-Axis Powered Ankle-Foot Prosthesis

Evandro M. Ficanha, Mohammad Rastgaar
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, V003T43A002, October 22–24, 2014
Paper No: DSCC2014-6032
DOI: https://doi.org/10.1115/DSCC2014-6032
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Topics: Control equipment, Mechanical admittance, Prostheses, Feedback, Machinery, Stiffness, Torque, Strain gages, Switches, Trajectories (Physics)