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List of works by Robert D. Gregg

A Haptic Feedback System for Phase-Based Sensory Restoration in Above-Knee Prosthetic Leg Users.

scientific article published on 14 June 2016

A Robust Parameterization of Human Gait Patterns Across Phase-Shifting Perturbations

scientific article

Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines

scientific article published on 27 February 2018

Controlled Reduction of a Five-Link 3D Biped with Unactuated Yaw

scientific article

Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation.

scientific article

Evidence for a time-invariant phase variable in human ankle control

scientific article (publication date: 2014)

Experimental effective shape control of a powered transfemoral prosthesis.

scientific article published in June 2013

Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs

scientific article published on 07 August 2019

Functional asymmetry in a five-link 3D bipedal walker ⬇️

scientific article published on January 1, 2011

Incorporating Human-like Walking Variability in an HZD-Based Bipedal Model.

scientific article

Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study

scientific article published on 23 November 2018

Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: A Convex Optimization Framework for Elastic Element Design

scientific article published on 25 March 2019

Modeling the Kinematics of Human Locomotion over Continuously Varying Speeds and Inclines

scientific article published on 05 November 2018

On the Design and Control of Highly Backdrivable Lower-Limb Exoskeletons: A Discussion of Past and Ongoing Work

scientific article published on 15 November 2018

Prosthetic Leg Control in the Nullspace of Human Interaction.

scientific article published on July 2016

Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses.

scientific article published on 5 January 2017

The basic mechanics of bipedal walking lead to asymmetric behavior

scientific article

The difference between stiffness and quasi-stiffness in the context of biomechanical modeling

scientific article

Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study.

scientific article

Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg.

scientific article

Towards Total Energy Shaping Control of Lower-Limb Exoskeletons

scientific article published in May 2017

Underactuated Potential Energy Shaping with Contact Constraints: Application to a Powered Knee-Ankle Orthosis.

scientific article published on 17 January 2017

Virtual constraint control of a powered prosthetic leg: from simulation to experiments with transfemoral amputees

journal article published in 2014

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