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Videos

 

BiLLEE Design | Adjusting, Donning and Doffing Time-Lapse Video

Bryan*, G. W., Franks*, P. W., Klein, S. C., Peuchen, R. J., Collins, S. H. (2020) A hip–knee–ankle exoskeleton emulator for studying gait assistance. International Journal of Robotics Research, in press. *contributed equally. Article | PDF | Download Video

 

 

BiLLEE Design | Benchtop Testing Video

Bryan*, G. W., Franks*, P. W., Klein, S. C., Peuchen, R. J., Collins, S. H. (2020) A hip–knee–ankle exoskeleton emulator for studying gait assistance. International Journal of Robotics Research, in press. *contributed equally. Article | PDF | Download Video

 

 

BiLLEE Design | Various Gait Conditions Video

Bryan*, G. W., Franks*, P. W., Klein, S. C., Peuchen, R. J., Collins, S. H. (2020) A hip–knee–ankle exoskeleton emulator for studying gait assistance. International Journal of Robotics Research, in press. *contributed equally. Article | PDF | Download Video

 

 

BiLLEE Design | Walking Video

Bryan*, G. W., Franks*, P. W., Klein, S. C., Peuchen, R. J., Collins, S. H. (2020) A hip–knee–ankle exoskeleton emulator for studying gait assistance. International Journal of Robotics Research, in press. *contributed equally. Article | PDF | Download Video

 

 

BiLLEE Speed | ASB 2020 Video

Bryan, G. M., Franks, P. W., Reyes, R., Collins, S. H. (2020) Optimized hip-knee-ankle exoskeleton assistance at different speeds. Annual Meeting of the American Society for Biomechanics, Atlanta, Georgia, USA, August 4, 2020. PDF

 

 

Exotee | ASB 2020 Video

Voloshina, A. S., Poggensee, K. L., Butterfield, J. K., Collins, S. H. (2020) Effects of exoskeleton assistance in individuals with unilateral transtibial amputation. Annual Meeting of the American Society for Biomechanics, Atlanta, Georgia, USA, August 4, 2020. PDF

 

 

Prosthesis Teleoperation | ASB 2020 Video

Welker, C. G., Chiu, V. L., Voloshina, A. S., Collins, S. H., Okamura, A. M. (2020) Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton. Annual Meeting of the American Society for Biomechanics, Atlanta, Georgia, USA, August 4, 2020. PDF

 

 

Single vs. Multi-Joint Assistance | ASB 2020 Video

Franks, P. W., Bryan, G. M., Reyes, R., Collins, S. H. (2020) Hip, knee, ankle and multi-joint exoskeleton assistance can reduce metabolic cost. Annual Meeting of the American Society for Biomechanics, Atlanta, Georgia, USA, August 4, 2020. PDF

 

 

Motor Learning | ASB 2020 Video

Poggensee, K. L., Collins, S. H. (2020) How training, adaptation, and customization contribute to exoskeleton assistance. Annual Meeting of the American Society for Biomechanics, Atlanta, Georgia, USA, August 4, 2020. PDF

 

 

Exploration-exploitation | ASB 2020 Video

Abram, S. J., Poggensee, K. L., Donelan, J. M., Collins, S. H. (2020) People explore gait dimensions, and reduce this exploration, as they learn to walk with exoskeleton assistance. Annual Meeting of the American Society for Biomechanics, Atlanta, Georgia, USA, August 4, 2020. PDF

 

 

Split-Belt Rimless Wheel | ASB 2020 Video

Butterfield, J. K., Simha, S. N., Donelan, J. M., Collins, S. H. (2020) A split-belt rimless wheel can passively walk steadily on a split-belt treadmill. Annual Meeting of the American Society for Biomechanics, Atlanta, Georgia, USA, August 4, 2020. PDF

 

 

Self-Paced Treadmill | Video

Song, S., Choi, H., Collins, S. H. (2020) Using force data to self-pace an instrumented treadmill and measure self-selected walking speed. Journal of NeuroEngineering and Rehabilitation, 17:68. Article | PDF | Code Repository

 

 

Sim2BiLLEE | Talk Video

Franks, P. W., Bianco, N. A., Bryan, G. M., Hicks, J. L., Delp, S. L., Collins, S. H. (2020) Testing simulated assistance strategies on a hip-knee-ankle exoskeleton: a case study. In Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics, accepted. PDF | Download Video

 

 

Sim2BiLLEE | Video

Franks, P. W., Bianco, N. A., Bryan, G. M., Hicks, J. L., Delp, S. L., Collins, S. H. (2020) Testing simulated assistance strategies on a hip-knee-ankle exoskeleton: a case study. In Proceedings IEEE International Conference on Biomedical Robotics and Biomechatronics, accepted. PDF | Download Video

 

 

Running Exoskeleton | B-Roll Video

Witte, K. A., Fiers, P., Sheets-Singer, A. L., Collins, S. H. (2020) Improving the energy economy of human running with powered and unpowered ankle exoskeleton assistance. Science Robotics, 5:eaay9108.
Article | PDF | Supplementary PDF | Download Video

 

 

Running Exoskeleton | Explainer

Witte, K. A., Fiers, P., Sheets-Singer, A. L., Collins, S. H. (2020) Improving the energy economy of human running with powered and unpowered ankle exoskeleton assistance. Science Robotics, 5:eaay9108.
Article | PDF | Supplementary PDF | Download Video

 

 

Running Exoskeleton | Conditions

Witte, K. A., Fiers, P., Sheets-Singer, A. L., Collins, S. H. (2020) Improving the energy economy of human running with powered and unpowered ankle exoskeleton assistance. Science Robotics, 5:eaay9108.
Article | PDF | Supplementary PDF | Download Video

 

 

Bump'em | Explainer

Tan, G. R., Raitor, M., Collins, S. H. (2020) Bump’em: an open-source, bump-emulation system for studying human balance and gait. In Proceedings IEEE International Conference on Robotics and Automation, accepted. PDF | Design Materials | Download Video

 

 

Bump'em | ICRA Talk

Tan, G. R., Raitor, M., Collins, S. H. (2020) Bump’em: an open-source, bump-emulation system for studying human balance and gait. In Proceedings IEEE International Conference on Robotics and Automation, accepted. PDF | Design Materials

 

 

Energy-Recycling Actuator | Control

Krimsky, E., Collins, S. H. (2020) Optimal control of an energy-recycling actuator for mobile robotics applications. In Proceedings IEEE International Conference on Robotics and Automation, accepted. PDF | Download Video

 

 

Energy-Recycling Actuator | ICRA Talk

Krimsky, E., Collins, S. H. (2020) Optimal control of an energy-recycling actuator for mobile robotics applications. In Proceedings IEEE International Conference on Robotics and Automation, accepted. PDF

 

 

Split-Belt Machine | Video

Chiu, V. L., Simha, S. N., Donelan, J. M., Collins, S. H. (2019) The Split-Belt Machine: A passive cart that drives upstream on a split-belt treadmill. URL

 

 

Split-Belt Machine | DIY LEGO Video

Chiu, V. L., Simha, S. N., Donelan, J. M., Collins, S. H. (2019) The Split-Belt Machine: A passive cart that drives upstream on a split-belt treadmill. URL

 

 

Heuristic-Based Co-Adaptation | Exoskeleton Torque Evolution Video

Jackson, R. W., Collins, S. H. (2019) Heuristic-based ankle exoskeleton control for co-adaptive assistance of human locomotion. Transactions on Neural Systems and Rehabilitation Engineering, in press. Article | PDF

 

 

Prosthesis Emulator | Tripod Discussion Video

Chiu, V. L., Voloshina, A. S., Collins, S. H. (2020) An ankle-foot prosthesis emulator capable of modulating center of pressure. Transactions on Biomedical Engineering, 67:166-176.
Article | PDF | Cover | CAD | Photos

 

 

Balance Simulation | Random Ground Height Variation

Kim, M., Collins, S. H. (2017) Once-per-step control of ankle push-off work improves balance in a three-dimensional simulation of bipedal walking. Transactions on Robotics, 33:406-418. Article | PDF | Download Video

 

 

Knee Exoskeleton Emulator | Bandwidth Test

Witte, K. A., Fatschel, A. M., Collins, S. H. (2017) Design of a lightweight, tethered, torque-controlled knee exoskeleton. In Proceedings IEEE International Conference on Rehabilitation Robotics, pages 1646-1653. Article | PDF | Download Video

 

 

Ankle Exoskeleton | Force vs Work Assistance

Jackson, R. W., Collins, S. H. (2015) An experimental comparison of the relative benefits of work and torque assistance in ankle exoskeletons. Journal of Applied Physiology, 119:541-557. Article | PDF | Data | Download Video

 

 

Ankle-Foot Prosthesis | Push-Off Modulation for Balance

Kim, M., Collins, S. H. (2015) Once-per-step control of ankle-foot prosthesis push-off work reduces effort associated with balance during human walking. Journal of NeuroEngineering and Rehabilitation, 12:43. Article | PDF | Supplementary PDF | Download Video

 

 

Ankle-Foot Prosthesis | Push-Off Timing and Energy Economy

Malcolm, P., Quesada, R. E., Caputo, J. M., Collins, S. H. (2015) The influence of push-off timing in a robotic ankle-foot prosthesis on the energetics and mechanics of walking. Journal of NeuroEngineering and Rehabilitation, 12:21. Article | PDF | Supplementary PDF | Download Video

 

 

Ankle Prosthesis | Push-Off and Collision Mechanics

Caputo, J. M., Collins, S. H. (2014) Prosthetic ankle push-off work reduces metabolic rate but not collision work in non-amputee walking. Nature Scientific Reports, 4:7213. Article | PDF | Supplementary PDF | Download Video

 

 

Emulation for Prescription | Emulating Different Prosthesis Classes

Caputo, J. M., Adamczyk, P. G., Collins, S. H. (2015) Informing ankle-foot prosthesis prescription through haptic emulation of candidate devices. In Proceedings IEEE International Conference on Robotics and Automation, pages 6445-6450. Article | PDF | Download Video

 

 

Exoskeleton Emulator | Hardware Testing

Witte, K. A., Zhang, J., Jackson, R. W., Collins, S.H. (2015) Design of two lightweight, high-bandwidthtorque-controlled ankle exoskeletons. In Proceedings IEEE International Conference on Robotics and Automation, pages 1223-1228. Article | PDF | Download Video