Gregory S. Sawicki

The paper investigates how exoskeleton stiffness affects muscle spindle firing in rats by applying controlled stretches with engineered springs and measuring biomechanical responses.

This paper develops a biophysical model of the muscle spindle to simulate how gamma motor neuron drive modulates spindle firing during locomotion, revealing its role as a tunable feedback controller.

This study tests the effect of different exoskeleton torque levels on balance during perturbations, finding that higher torque does not always improve balance and may even hinder it in some individuals.

This paper introduces BATEX, a biarticular exosuit that reduces metabolic cost by 7-9% during walking through energy-shuffling mechanisms.

The paper critiques a study claiming experiment-free exoskeleton control via simulation, highlighting unverified claims and physiological inconsistencies.

This study examines the mechanical role of the rectus femoris during perturbed walking, finding partial support for hypotheses about its lengthening and energetic demand reflection.

This paper introduces a closed-loop control framework using NMPC to regulate musculotendon forces in simulated ankle plantarflexors, achieving fast and robust force control across different muscle fiber types.

The paper decomposes reactive joint torques during balance recovery into feedforward and feedback components using a modified sensorimotor response model.

This study finds older adults have reduced Achilles tendon stiffness and higher metabolic cost of walking, linking lower stiffness to increased energy expenditure.