S. Collins

发表

Efficient Bipedal Robots Based on Passive-Dynamic Walkers

Russ Tedrake, A. Ruina, S. Collins, 2005, Science.

A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees

Martijn Wisse, Andy Ruina, Steven H. Collins, 2001, Int. J. Robotics Res..

The advantages of a rolling foot in human walking

S. Collins, A. Kuo, P. Adamczyk, 2006, Journal of Experimental Biology.

Recycling Energy to Restore Impaired Ankle Function during Human Walking

S. Collins, A. Kuo, 2010, PloS one.

Powered bipedal robots based on unpowered walking toys

Martijn Wisse, Russ Tedrake, Andy Ruina, 2004 .

A Bipedal Walking Robot with Efficient and Human-Like Gait

Andy Ruina, Steven H. Collins, A. Ruina, 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

The RoboKnee: an exoskeleton for enhancing strength and endurance during walking

Jerry E. Pratt, Benjamin T. Krupp, Christopher J. Morse, 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

Bump’em: an Open-Source, Bump-Emulation System for Studying Human Balance and Gait

Michael Raitor, Steven H. Collins, Guan Rong Tant, 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

Stabilization of a three-dimensional limit cycle walking model through step-to-step ankle control

Myunghee Kim, Steven H. Collins, Myunghee Kim, 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).

How Crouch Gait Can Dynamically Induce Stiff-Knee Gait

S. Collins, M. Wisse, J. Harlaar, 2010, Annals of Biomedical Engineering.

The Passive Series Stiffness That Optimizes Torque Tracking for a Lower-Limb Exoskeleton in Human Walking

Juanjuan Zhang, Steven H. Collins, S. Collins, 2017, Front. Neurorobot..

Using force data to self-pace an instrumented treadmill and measure self-selected walking speed

Steven H. Collins, Seungmoon Song, Hojung Choi, 2020, Journal of NeuroEngineering and Rehabilitation.

Inducing self-selected human engagement in robotic locomotion training

Steven H. Collins, Rachel W. Jackson, S. Collins, 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).

Targeting specific muscles for rehabilitation with an EMG-controlled ankle-foot orthosis

S. Collins, R. W. Jackson, 2012 .

Design of two lightweight, high-bandwidth torque-controlled ankle exoskeletons

Juanjuan Zhang, Steven H. Collins, Rachel W. Jackson, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

The influence of push-off timing in a robotic ankle-foot prosthesis on the energetics and mechanics of walking

Joshua M. Caputo, S. Collins, P. Malcolm, 2015, Journal of NeuroEngineering and Rehabilitation.

Shortcomings of human-in-the-loop optimization for an ankle-foot prosthesis: a case series

Steven H. Collins, Cara G. Welker, Vincent L. Chiu, 2020, bioRxiv.

Increasing ankle push-off work with a powered prosthesis does not necessarily reduce metabolic rate for transtibial amputees.

Joshua M. Caputo, S. Collins, Roberto E Quesada, 2016, Journal of biomechanics.

Lower limb active prosthetic systems—overview

Alexandra S. Voloshina, S. Collins, 2020 .

Torque Control in Legged Locomotion

Chien Chern Cheah, Juanjuan Zhang, Steven H. Collins, 2017 .

Informing ankle-foot prosthesis prescription through haptic emulation of candidate devices

Peter G. Adamczyk, Steven H. Collins, Joshua M. Caputo, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Improving the energy economy of human running with powered and unpowered ankle exoskeleton assistance

Steven H. Collins, Pieter Fiers, Alison L. Sheets-Singer, 2020, Science Robotics.

The effects of electroadhesive clutch design parameters on performance characteristics

S. Collins, C. Majidi, Stuart Diller, 2018, Journal of Intelligent Material Systems and Structures.

Optimal Control of an Energy-Recycling Actuator for Mobile Robotics Applications

Steven H. Collins, Erez Krimsky, S. Collins, 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton

Allison M. Okamura, Steven H. Collins, Cara G. Welker, 2020, bioRxiv.

Using force data to self-pace an instrumented treadmill and measure self-selected walking speed

Seungmoon Song, Steven H. Collins, HoJung Choi, 2019, bioRxiv.

Design of Lower-Limb Exoskeletons and Emulator Systems

Steven H. Collins, Kirby Ann Witte, S. Collins, 2020 .

Effect of push-off timing on metabolic cost during walking with a universal ankle-foot prosthesis emulator

Dirk De Clercq, Steven H. Collins, Philippe Malcolm, 2014 .

Systematic Variation of Prosthetic Foot Spring Affects Center-of-Mass Mechanics and Metabolic Cost During Walking

S. Collins, A. Kuo, D. Morgenroth, 2011, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

Prosthetic ankle push-off work reduces metabolic rate but not collision work in non-amputee walking

Steven H. Collins, Joshua M. Caputo, S. Collins, 2014, Scientific Reports.

Ankle fixation need not increase the energetic cost of human walking.

S. Collins, A. Kuo, Matthew T Vanderpool, 2008, Gait & posture.

The effect of prosthetic foot push-off on mechanical loading associated with knee osteoarthritis in lower extremity amputees.

S. Collins, A. Kuo, D. Morgenroth, 2011, Gait & posture.

An ankle-foot prosthesis emulator with control of plantarflexion and inversion-eversion torque

Tianjian Chen, Myunghee Kim, Tianyao Chen, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

The effects of a controlled energy storage and return prototype prosthetic foot on transtibial amputee ambulation.

S. Collins, A. Kuo, D. Morgenroth, 2012, Human movement science.

Systematic variation of prosthetic foot parameter affects 1 center-of-mass mechanics and metabolic cost during walking 2 3 4

S. Collins, A. Kuo, D. Morgenroth, 2010 .

Inversion-Eversion Stiffness of Ankle-Foot Prosthesis Affects Amputee ’ s Balance-Related Effort during Walking

Myunghee Kim, S. Collins, Tianjian Chen, 2015 .

An exoskeleton using controlled energy storage and release to aid ankle propulsion

Steven H. Collins, M. Bruce Wiggin, Gregory S. Sawicki, 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

Design of a lightweight, tethered, torque-controlled knee exoskeleton

Steven H. Collins, Kirby Ann Witte, Andreas M. Fatschel, 2017, 2017 International Conference on Rehabilitation Robotics (ICORR).

Step-to-Step Ankle Inversion/Eversion Torque Modulation Can Reduce Effort Associated with Balance

Myunghee Kim, Steven H. Collins, Myunghee Kim, 2017, Front. Neurorobot..

Two Independent Contributions to Step Variability during Over-Ground Human Walking

S. Collins, A. Kuo, 2013, PloS one.

Rapid energy expenditure estimation for assisted and inclined loaded walking

Mykel J. Kochenderfer, Scott L. Delp, Patrick Slade, 2018, bioRxiv.

Testing Simulated Assistance Strategies on a Hip-Knee-Ankle Exoskeleton: a Case Study

Scott L. Delp, Steven H. Collins, Jennifer L. Hicks, 2020, 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob).

An experimental robotic testbed for accelerated development of ankle prostheses

Steven H. Collins, Joshua M. Caputo, S. Collins, 2013, 2013 IEEE International Conference on Robotics and Automation.

An Ankle–Foot Prosthesis Emulator With Control of Plantarflexion and Inversion–Eversion Torque

Tianjian Chen, Tianyao Chen, Steven H. Collins, 2018, IEEE Transactions on Robotics.

The effect of ankle foot orthosis stiffness on the energy cost of walking: a simulation study.

S. Collins, M. Wisse, J. Harlaar, 2011, Clinical biomechanics.

The Effects of Prosthesis Inversion/Eversion Stiffness on Balance-Related Variability During Level Walking: A Pilot Study

Myunghee Kim, S. Collins, Tianjian Chen, 2020 .

An experimental comparison of the relative benefits of work and torque assistance in ankle exoskeletons.

Rachel W Jackson, Steven H Collins, Rachel W. Jackson, 2015, Journal of applied physiology.

Comparing optimized exoskeleton assistance of the hip, knee, and ankle in single and multi-joint configurations

Gwendolyn M. Bryan, Russell M. Martin, S. Collins, 2021, Wearable Technologies.

Rapid energy expenditure estimation for ankle assisted and inclined loaded walking

Steven H Collins, Mykel J. Kochenderfer, Scott L Delp, 2019, Journal of NeuroEngineering and Rehabilitation.

A Review of Design and Control Approaches in Lower-Limb Prosthetic Devices

Alexandra S. Voloshina, S. Collins, 2019 .

Understanding the Mechanisms behind Human-inthe-Loop Optimization Strategies

S. Collins, K. Sreenath, K. Poggensee, 2017 .

Supplementary Materials for Human-inthe-Loop Optimization of Exoskeleton Assistance during Walking

Christopher G. Atkeson, Steven H. Collins, Rachel W. Jackson, 2017 .

Design and Deployment of a Knee Prosthesis Emulator System

S. Collins, J. Gabriel, 2016 .

A parameter study of joint torque trajectory control during walking with bilateral ankle exoskeletons

Rachel W. Jackson, S. Collins, R. W. Jackson, 2015 .

Self-selected step length asymmetry is not explained by energy cost minimization in individuals with chronic stroke

S. Collins, G. Torres-Oviedo, R. W. Jackson, 2020, Journal of NeuroEngineering and Rehabilitation.

Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds

Alexandra S. Voloshina, Gwendolyn M. Bryan, S. Collins, 2021, Journal of neuroengineering and rehabilitation.

A hip–knee–ankle exoskeleton emulator for studying gait assistance

Gwendolyn M. Bryan, S. Collins, P. Franks, 2020, Int. J. Robotics Res..

Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds

Alexandra S. Voloshina, Gwendolyn M. Bryan, S. Collins, 2021, Journal of NeuroEngineering and Rehabilitation.

Optimized hip-knee-ankle exoskeleton assistance reduces the metabolic cost of walking with worn loads

Gwendolyn M. Bryan, S. Collins, Seungmoon Song, 2021, Journal of neuroengineering and rehabilitation.

Optimized hip-knee-ankle exoskeleton assistance reduces the metabolic cost of walking with worn loads

Gwendolyn M. Bryan, S. Collins, Seungmoon Song, 2021, Journal of NeuroEngineering and Rehabilitation.

The Effects of Incline Level on Optimized Lower-Limb Exoskeleton Assistance

Gwendolyn M. Bryan, S. Collins, P. Franks, 2021, bioRxiv.

Chapter 5 Torque control in legged locomotion

S. Collins, C. Cheah, Juanjuan Zhang, 2016 .

Self-selected step length asymmetry is not explained by energy cost minimization in individuals with chronic stroke

Rachel W. Jackson, S. Collins, G. Torres-Oviedo, 2019, Journal of NeuroEngineering and Rehabilitation.

A simple method for calibrating force plates and force treadmills using an instrumented pole.

Steven H Collins, Daniel P Ferris, Daniel P. Ferris, 2009, Gait & posture.

A Passive Elastic Ankle Exoskeleton Using Controlled Energy Storage and Release to Reduce the Metabolic Cost of Walking

S. Collins, G. Sawicki, Bruce Wiggin, 2010 .

General variability leads to specific adaptation toward optimal movement policies

Surabhi N. Simha, James M. Finley, Sabrina J. Abram, 2022, Current Biology.

When mechanics matter: Utilizing passive dynamics to gain benefits in human locomotion

Steven H. Collins, S. Collins, 2009 .

Effort-o-Meter : the relationship between effort of walking and amount of walking performed Mailing

S. Collins, P. Adamczyk, Wu, 2015 .

Characterizing the relationship between peak assistance torque and metabolic cost reduction during running with ankle exoskeletons

Emily M. Farina, Alison L. Sheets-Singer, S. Collins, 2022, Journal of neuroengineering and rehabilitation.

The effects of ground-irregularity-cancelling prosthesis control on balance over uneven surfaces

Vincent L. Chiu, Alexandra S. Voloshina, S. Collins, 2021, Royal Society Open Science.

Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking

Nicholas A. Bianco, S. Collins, S. Delp, 2022, bioRxiv.

Design of a Comfortable Pure Moment Knee Exoskeleton

S. Collins, K. Witte, 2015 .

Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking

Nicholas A. Bianco, S. Collins, S. Delp, 2022, bioRxiv.

Optimizing Exoskeleton Assistance for Faster Self-Selected Walking

S. Collins, Seungmoon Song, 2021, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

Dynamic Walking Principles Applied to Human Gait.

Steven H. Collins, S. Collins, 2008 .

Reducing the energy cost of human walking using an unpowered exoskeleton

Gregory S. Sawicki, Steven H. Collins, M. Bruce Wiggin, 2015, Nature.

Sensing leg movement enhances wearable monitoring of energy expenditure

Mykel J. Kochenderfer, S. Collins, S. Delp, 2021, Nature Communications.

Human-in-the-loop optimization of exoskeleton assistance during walking

Rachel W Jackson, Steven H Collins, Juanjuan Zhang, 2017, Science.

The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking

Hartmut Geyer, Seungmoon Song, Steven H. Collins, 2013, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).

Dynamic arm swinging in human walking

Steven H Collins, Peter G Adamczyk, Arthur D Kuo, 2009, Proceedings of the Royal Society B: Biological Sciences.

Muscle recruitment and coordination with an ankle exoskeleton.

Katherine M Steele, Rachel W Jackson, Benjamin R Shuman, 2017, Journal of biomechanics.

Personalizing exoskeleton assistance while walking in the real world

Mykel J. Kochenderfer, S. Collins, S. Delp, 2022, Nature.

Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power

Dirk De Clercq, Samuel Galle, Philippe Malcolm, 2017, Journal of NeuroEngineering and Rehabilitation.

Rapid energy expenditure estimation for ankle assisted and inclined loaded walking

Mykel J. Kochenderfer, S. Collins, S. Delp, 2019, Journal of NeuroEngineering and Rehabilitation.

A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation

Carmel Majidi, Steven H. Collins, Stuart Diller, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

A universal ankle-foot prosthesis emulator for human locomotion experiments.

Steven H Collins, Joshua M. Caputo, Joshua M Caputo, 2014, Journal of biomechanical engineering.

Once-per-step control of ankle-foot prosthesis push-off work reduces effort associated with balance during walking

Steven H Collins, Myunghee Kim, Myunghee Kim, 2015, Journal of NeuroEngineering and Rehabilitation.

What do walking humans want from mechatronics?

S. H. Collins, S. Collins, 2013, 2013 IEEE International Conference on Mechatronics (ICM).

Experimental comparison of torque control methods on an ankle exoskeleton during human walking

Chien Chern Cheah, Juanjuan Zhang, Steven H. Collins, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Robotic Emulation of Candidate Prosthetic Foot Designs May Enable Efficient, Evidence-Based, and Individualized Prescriptions

Joshua M. Caputo, S. Collins, P. Adamczyk, 2021, Journal of prosthetics and orthotics : JPO.

The split-belt rimless wheel

Surabhi N. Simha, S. Collins, J. Donelan, 2021, bioRxiv.

Comparing optimized exoskeleton assistance of the hip, knee, and ankle in single and multi-joint configurations

Steven H. Collins, Patrick W. Franks, Gwendolyn M. Bryan, 2021, bioRxiv.

Once-Per-Step Control of Ankle Push-Off Work Improves Balance in a Three-Dimensional Simulation of Bipedal Walking

Myunghee Kim, Steven H. Collins, Myunghee Kim, 2017, IEEE Transactions on Robotics.

How adaptation, training, and customization contribute to benefits from exoskeleton assistance

Katherine L Poggensee, S. Collins, 2021, bioRxiv.

Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking

Nicholas A. Bianco, S. Collins, S. Delp, 2023, bioRxiv.

Heuristic-Based Ankle Exoskeleton Control for Co-Adaptive Assistance of Human Locomotion

Rachel W Jackson, Steven H Collins, Rachel W. Jackson, 2019, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

Weighted Shoes in the Wild: Initial Insights into the Relationship Between the Effort of Walking and the Amount of Walking Performed

S. Collins, P. Adamczyk, Mailing R. Wu, 2021, bioRxiv.

The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations

Steven H. Collins, Juanjuan Zhang, S. Collins, 2021, Frontiers in Neurorobotics.

Stable human-robot interaction control for upper-limb rehabilitation robotics

Chien Chern Cheah, Juanjuan Zhang, Steven H. Collins, 2013, 2013 IEEE International Conference on Robotics and Automation.

An exoskeleton using controlled energy storage and release to aid ankle propulsion

S. Collins, G. Sawicki, M. Wiggin, 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

A Passive Elastic Ankle Exoskeleton Using Controlled Energy Storage and Release to Reduce the Metabolic Cost of Walking

S. Collins, G. Sawicki, Bruce Wiggin, 2010 .

An experimental comparison of the relative benefits of work and torque assistance in ankle exoskeletons.

Rachel W. Jackson, S. Collins, 2015, Journal of applied physiology.

Human-in-the-loop optimization of exoskeleton assistance during walking

Rachel W. Jackson, Katherine L Poggensee, C. Atkeson, 2017, Science.

Design of a Hip Exoskeleton With Actuation in Frontal and Sagittal Planes

Michael Raitor, Steven H. Collins, Vincent L. Chiu, 2021, IEEE Transactions on Medical Robotics and Bionics.

Muscle–tendon mechanics explain unexpected effects of exoskeleton assistance on metabolic rate during walking

Rachel W Jackson, Steven H Collins, Scott L Delp, 2017, Journal of Experimental Biology.

Prosthesis Inversion/Eversion Stiffness Reduces Balance-Related Variability During Level Walking.

Myunghee Kim, S. Collins, Tianjian Chen, 2020, Journal of biomechanical engineering.

Shortcomings of human-in-the-loop optimization of an ankle-foot prosthesis emulator: a case series

Vincent L. Chiu, Alexandra S. Voloshina, S. Collins, 2021, Royal Society Open Science.

An Ankle-Foot Prosthesis Emulator Capable of Modulating Center of Pressure

Steve Collins, Vincent L. Chiu, Alexandra S. Voloshina, 2020, IEEE Transactions on Biomedical Engineering.

What Do Walking Humans Want From Mechatronics? (Invited Presentation)

Steven H. Collins, A. Push-Off Work, Amputee Energetics, 2013 .