Videos
Teleoperation | Targeting an ankle trajectory
Welker, C. G., Chiu, V. L., Voloshina, A., Collins, S. H., Okamura, A. M. (2021)
Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton.
Transactions on Biomedical Engineering, in press.
Ground-irregularity-cancelling | Test conditions
Chiu, V. L., Voloshina, A. S., Collins, S. H. (2021)
The effects of ground-irregularity-cancelling prosthesis control on balance over uneven surfaces.
Royal Society Open Science,
Ground-irregularity-cancelling | Slow motion video
Chiu, V. L., Voloshina, A. S., Collins, S. H. (2021)
The effects of ground-irregularity-cancelling prosthesis control on balance over uneven surfaces.
Royal Society Open Science,
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.
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.
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.
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.
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,
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
Prosthesis Emulator | Tripod Discussion Video
Chiu, V. L., Voloshina, A. S., Collins, S. H. (2020)
An
Balance Simulation | Random Ground Height Variation
Kim, M., Collins, S. H. (2017)
Knee Exoskeleton Emulator | Bandwidth Test
Witte, K. A., Fatschel, A. M., Collins, S. H. (2017)
Design of a lightweight, tethered,
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:
Ankle-Foot Prosthesis | Push-Off Modulation for Balance
Kim, M., Collins, S. H. (2015)
Once-per-step control of
Ankle-Foot Prosthesis | Push-Off Timing and Energy Economy
Malcolm, P., Quesada, R. E., Caputo, J. M., Collins, S. H. (2015)
The influence of
Ankle Prosthesis | Push-Off and Collision Mechanics
Caputo, J. M., Collins, S. H. (2014)
Prosthetic ankle
Emulation for Prescription | Emulating Different Prosthesis Classes
Caputo, J. M., Adamczyk, P. G., Collins, S. H. (2015)
Informing
Exoskeleton Emulator | Hardware Testing
Witte, K. A., Zhang, J., Jackson, R. W., Collins, S.H. (2015)
Design of two lightweight,
