First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach

Huihua Zhao, Jonathan Horn, Jacob Reher, +2

Autonomous Robots

Robot KinematicsEngineeringNonlinear OptimizationBiomedical EngineeringOrthopaedic Surgery +16

Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control

Huihua Zhao, Jonathan Horn, Jacob Reher, +2

IEEE Transactions on Automation Science and Engineering

Robot KinematicsRobotic SystemsEngineeringNeural ControlCustom-built Prosthesis +26

Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing

Matthew J. Powell, Huihua Zhao, Aaron D. Ames

Human-inspired multi-contact locomotion with AMBER2

Huihua Zhao, Wen-Loong Ma, Aaron D. Ames, +1

Robot KinematicsRobotic SystemsEngineeringBio-inspired DesignLocomotion (Cellular Biology) +21

Learning impedance controller parameters for lower-limb prostheses

Navid Aghasadeghi, Huihua Zhao, Levi J. Hargrove, +3

EngineeringUpper ExtremityMechanics In MedicineMotor ControlBiomedical Engineering +18

Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis

Huihua Zhao, Eric Ambrose, Aaron D. Ames

Gait AnalysisEngineeringExperimental ValidationMovement BiomechanicsBiomedical Engineering +21

Multi-contact bipedal robotic locomotion

Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, +1

Robotica

Robot KinematicsRobotic SystemsEngineeringField RoboticsMotor Control +17

Quadratic programming and impedance control for transfemoral prosthesis

Huihua Zhao, Shishir Kolathaya, Aaron D. Ames

Mathematical ProgrammingEngineeringMotor ControlRehabilitation RoboticsKinesiology +19

Human-inspired walking via unified PD and impedance control

Wen-Loong Ma, Huihua Zhao, Shishir Kolathaya, +1

Robot KinematicsRehabilitation RoboticsBipedal LocomotionKinesiologyEngineering +13

Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments

Vahid Azimi, Tony Shu, Huihua Zhao, +3

IEEE Transactions on Systems Man and Cybernetics Systems

Gait AnalysisNeuromuscular CoordinationEngineeringHybrid Human/prosthesis ModelMovement Biomechanics +28