S. H. Collins

Frontal hip exoskeleton assistance does not appear promising for reducing the metabolic cost of walking: A preliminary experimental study

This study evaluates frontal hip exoskeleton assistance for reducing walking metabolic cost but finds no reduction in metabolic rate with optimized control schemes.

AddBiomechanics: Automating model scaling, inverse kinematics, and inverse dynamics from human motion data through sequential optimization

AddBiomechanics automates biomechanical analysis of human motion data, reducing processing time from days to minutes and achieving accuracy comparable to manual methods.

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

This study simulates how ankle exoskeleton torques affect center of mass kinematics during walking, showing torque type and timing influence movement patterns.

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

This study examines how weighted shoes affect walking energy expenditure and behavior, finding increased energy use without significant changes in walking distance or speed.

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

This study optimizes whole-leg exoskeleton assistance for incline walking, reducing metabolic cost by at least 50% across 5°, 10°, and 15° grades.

The Split-Belt Rimless Wheel

This study demonstrates how energy can be extracted from a split-belt treadmill through intermittent leg contacts and asymmetry in leg angles, showing that humans do not maximize energy capture due to balance constraints.

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

This study optimizes hip-knee-ankle exoskeleton assistance across walking speeds, finding it reduces metabolic cost by 26-50% but is less effective at slow speeds.

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

This study compares the metabolic cost reduction of single and multi-joint exoskeleton assistance in walking, finding that whole-leg assistance reduces energy expenditure by 50%.

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

This paper applies human-in-the-loop optimization to an ankle-foot prosthesis but finds no significant reduction in metabolic rate compared to generic control.

Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton

This paper develops a teleoperation system using a wrist exoskeleton to control and provide feedback for an ankle-foot prosthesis, achieving accuracy comparable to biological neuromotor control.

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

This paper develops a self-pacing controller for force-instrumented treadmills to measure self-selected walking speed, showing it is accurate and faster than manual methods.

Rapid energy expenditure estimation for assisted and inclined loaded walking

This paper develops models to rapidly estimate energy expenditure during walking with assistive devices and loads, achieving average errors of 4.4-11.7% across three use cases.