Selected Publications
Chiu, V. L., Raitor, M., Collins, S. H. (2021)
Design of a hip exoskeleton with actuation in frontal and sagittal planes.
Transactions on Medical Robotics and Bionics, in press.
Song, S., Collins, S. H. (2021)
Optimizing exoskeleton assistance for faster self-selected walking.
Transactions on Neural Systems & Rehabilitation Engineering,
Bryan*, G. M., 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,
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 International Conference on Robotics and Automation,
Chiu, V. L., Voloshina, A. S., Collins, S. H. (2020)
An
Zhang, J., Fiers, P., Witte, K. A., Jackson, R. W., Poggensee, K. L., Atkeson, C. G., Collins, S. H. (2017)
Article |
PDF |
Kim, M., Collins, S. H. (2017)
Article |
PDF |
Animation
Diller, S., Majidi, C., Collins, S. H. (2016)
A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation.
In Proceedings International Conference on Robotics and Automation, pages
Article |
PDF |
Videos
Quesada, R. E., Caputo J. M., Collins, S.H. (2016)
Increasing ankle
Article |
PDF |
Collins, S. H., Wiggin, M. B., Sawicki, G. S. (2015)
Reducing the energy cost of human walking using an unpowered exoskeleton.
Nature, 522:
Article |
PDF |
Caputo, J. M., Collins, S. H. (2014)
A universal
Article |
PDF |
History |
3D PDF |
Additional Journal Articles
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,
Zhang, J., Collins, S. H. (2021)
The iterative learning gain that optimizes real-time torque tracking for ankle exoskeletons in human walking under gait variations.
Frontiers in Neurorobotics,
Welker, C. G., Chiu, V. L., Voloshina, A. S., Collins, S. H. (2021)
Shortcomings of human-in-the-loop optimization of an ankle-foot prosthesis emulator: a case series.
Royal Society Open Science,
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, 68:1714-1725.
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.
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,
Nguyen, T. M., Jackson, R. W., Aucie, Y., de Kam, D., Collins, S. H., Torres-Oviedo, G. (2020)
Self-selected step length asymmetry is not explained by energy cost minimization in individuals with chronic stroke.
Journal of NeuroEngineering and Rehabilitation, 17:119.
Kim, M., Lyness, H., Chen, T., Collins, S. H. (2020)
The effects of prosthesis inversion/eversion stiffness on balance-related variability during level walking: a pilot study.
Journal of Biomechanical Engineering, 142:091011.
Yang, G.-Z., Nelson, B. J., Murphy, R. R., Choset, H., Christensen, H., Collins, S. H., Dario, P., Goldberg, K., Ikuta, K., Jacobstein, N., Kragic, D., Taylor, R. H., McNutt, M. (2020)
Combating COVID-19—The role of robotics in managing public health and infectious diseases.
Science Robotics, 5:eabb5589.
Simpson, C.S., Welker, C.G., Uhlrich, S.D., Sketch, S.M., Jackson, R.W., Delp, S.L., Collins, S.H., Selinger, J.C., Hawkes, E.W. (2019)
Connecting the legs with a spring improves human running economy.
Journal of Experimental Biology, 222:jeb202895.
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, 27:2059-2069.
Slade, P., Troutman, R., Kochenderfer, M. J., Collins, S. H., Delp, S. L. (2019) Rapid energy expenditure estimation for ankle assisted and inclined loaded walking. Journal of NeuroEngineering and Rehabilitation, 16:67. Article | PDF
Diller, S. B., Collins, S. H., Majidi, C. (2018)
The effects of electroadhesive clutch design parameters on performance characteristics.
Journal of Intelligent Material Systems and Structures, 29:
Kim, M., Chen, T., Chen, T., Collins, S. H. (2018)
An
Jackson, R. W., Dembia, C. L., Delp, S. L., Collins, S. H. (2017)
Muscle-tendon mechanics explain unexpected effects of exoskeleton assistance on metabolic rate during walking.
Journal of Experimental Biology, 220:
Zhang, J., Collins, S. H. (2017)
The passive series stiffness that optimizes torque tracking for a
Kim, M., Collins, S. H. (2017)
Step-to-step ankle
Steele, K. M., Jackson, R. W., Shuman, B., Collins, S. H. (2017)
Muscle recruitment and coordination with an ankle exoskeleton.
Journal of Biomechanics, 59:
Galle, S., Malcolm, P., Collins, S. H., De Clercq, D. (2017)
Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power.
Journal of NeuroEngineering and Rehabilitation, 14:35.
Article |
PDF |
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:
Kim, M., Collins, S. H. (2015)
Once-per-step control of
Malcolm, P., Quesada, R. E., Caputo, J. M., Collins, S. H. (2015)
The influence of
Caputo, J. M., Collins, S. H. (2014)
Prosthetic ankle
Additional Book Chapters
Witte, K. A., and Collins, S. H. (2020)
Design of lower-limb exoskeletons and emulator systems.
In Wearable Robotics: Systems and Applications,
with editors Ferguson, P. W., Rosen, J., Elsevier, Chapter 22, pages
Voloshina, A. S., and Collins, S. H. (2020)
Lower limb active prosthetic systems—overview.
In Wearable Robotics: Systems and Applications,
with editors Ferguson, P. W., Rosen, J., Elsevier, Chapter 23, pages 469-486.
Zhang, J., Cheah, C. C., and Collins, S. H. (2017)
Torque control in legged locomotion.
In
Additional Conference Proceedings
Krimsky, E., Collins, S. H. (2020)
Optimal control of an energy-recycling actuator for mobile robotics applications.
In Proceedings International Conference on Robotics and Automation, pages
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, pages
Witte, K. A., Fatschel, A. M., Collins, S. H. (2017)
Design of a lightweight, tethered,
Caputo, J. M., Adamczyk, P. G., Collins, S. H. (2015)
Informing
Collins, S. H., Kim, M., Chen, T., Chen, T. (2015)
An
Witte, K. A., Zhang, J., Jackson, R. W., Collins, S.H. (2015)
Design of two lightweight, high-bandwidth
Zhang, J., Cheah, C., C., Collins, S.H. (2015)
Experimental comparison of torque control methods on an ankle exoskeleton during human walking.
In Proceedings IEEE International Conference on Robotics and Automation, pages
Collins, S. H., Caputo, J. M., Adamczyk, P. G. (2014)
Emulating prosthetic feet during the prescription process to improve outcomes and justifications.
In Proceedings IEEE Workshop on Advanced Robotics and its Social Impacts, pages
Collins, S. H. (2013)
What do walking humans want from mechatronics? (Invited presentation).
In Proceedings International Conference on Mechatronics, pages
Collins, S. H., Jackson, R. W. (2013)
Inducing
Kim, M., Collins, S. H. (2013)
Stabilization of a
Caputo, J. M., Collins, S. H. (2013)
An experimental robotic testbed for accelerated development of ankle prostheses.
In Proceedings International Conference on Robotics and Automation, pages
Zhang, J., Cheah, C. C., Collins, S. H. (2013)
Stable
Song, S., LaMontagna, C., Collins, S. H., Geyer, H. (2013)
The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking.
In Proceedings International Conference of the Engineering in Medicine and Biology Society, pages
Wiggin, M. B., Sawicki, G. S., Collins, S. H. (2011)
An exoskeleton using controlled energy storage and release to aid ankle propulsion.
In Proceedings International Conference on Rehabilitation Robotics,
Dissertations and Theses
Gwendolyn M. Bryan (2021)
Development of effective hip-knee-ankle exoskeleton assistance for different walking conditions.
PhD Dissertation, Dept. of Mechanical Engineering, Stanford University,
Katherine L. Poggensee (2021)
Understanding the human contribution to the human-exoskeleton system.
PhD Dissertation, Department of Mechanical Engineering, Stanford University,
Vincent L. Chiu (2021)
Design and testing of an ankle-foot prosthesis and a hip exoskeleton to improve balance-related outcomes and prevent falls.
PhD Dissertation, Department of Mechanical Engineering, Stanford University,
Stuart B. Diller (2018)
Design, characterization, and implementation of lightwieght and
Kirby Ann Witte (2018)
Design, characterization, and implementation of
Rachel W. Jackson (2017)
Developing ankle exoskeleton assistance strategies by leveraging the mechanisms involved in human locomotion.
PhD Dissertation, Department of Mechanical Engineering, Carnegie Mellon University,
Juanjuan Zhang (2016)
Towards systematic controller design in rehabilitation robots.
PhD Dissertation, Department of Mechanical Engineering, Carnegie Mellon University,
Blair J. Emanuel (2016)
A Disturbance emulation device for stability and recovery testing.
Master's thesis, Department of Mechanical Engineering, Carnegie Mellon University,
James Gabriel (2016)
Design and Deployment of a knee prosthesis emulator system.
Master's thesis, Department of Mechanical Engineering, Carnegie Mellon University,
Myunghee Kim (2015)
Ankle controller design for robotic
Joshua M. Caputo (2015)
Informing
van Zijl, L. H. F. (2009)
Changing Speed in a Simple Walker with Dynamic One-Step Transitions.
Master's thesis, Department of BioMechanical Engineering, Delft University of Technology,
Conference Abstracts
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 | Talk 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 | Talk 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 | Talk 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 | Talk 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 | Talk 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 | Talk 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 | Talk 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. Dynamic Walking, Hawley, Pennsylvania, USA, May 11, 2020. PDF
Franks, P. W., Bryan, G. M., Reyes, R., Collins, S. H. (2020) For an exo to be, as good as can be, help the ankle, the knee, the hip or all three?. Dynamic Walking, Hawley, Pennsylvania, USA, May 11, 2020. PDF
Poggensee, K. L., Collins, S. H. (2019) Designing and controlling assistive devices to enhance human locomotion. In Workshop: Novel trends for design and optimal control of wearable assistive technology. International Conference on Intelligent Robots and Systems, Macau, China, November 9, 2019.
Collins, S. H. (2019) Keynote: Human-in-the-loop optimization of exoskeleton assistance during human walking. Annual Meeting of the European Society for Movement Analysis in Adults and Children, Amsterdam, The Netherlands, September 26, 2019. PDF
Nguyen, T., Collins, S. H. (2019) Human-in-the-loop optimization of active plantarflexion exoskeleton assistance for one individual with chronic stroke. Annual Meeting of the European Society for Movement Analysis in Adults and Children, Amsterdam, The Netherlands, September 26, 2019. PDF
Poggensee, K. L., Butterfield, J. K., Nguyen, T., Collins, S. H. (2019) Exploring the relative contributions to reduced metabolic energy expenditure with an ankle exoskeleton. Annual Meeting of the European Society for Movement Analysis in Adults and Children, Amsterdam, The Netherlands, September 26, 2019. PDF
Adenekan, R. A. G., Collins, S. H. (2019) Balance enhancing controller for an ankle exoskeleton. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Bryan, G. M., Franks, P. W., Collins, S. H. (2019). Heuristic based control for hip-knee-ankle exoskeleton assistance. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Butterfield, J. K., Poggensee, K. L., Collins, S. H. (2019). Effect of distraction on exoskeleton training and adaptation. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Chiu, V. L., Voloshina, A. S., Collins, S. H. (2019) Developing a surface-matching controller using an ankle-foot prosthesis emulator. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Franks, P. W., Bryan, G. M., Collins, S. H. (2019). Human-in-the-loop optimization of a hip-knee-ankle exoskeleton emulator. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Krimsky, E., Collins, S. H. (2019). Energy-recycling actuators for exoskeletons and walking robots. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Miller, D. E., Tan, G. R., Collins, S. H. (2019) Optimizing the energy economy of human running with powered and unpowered ankle exoskeleton assistance. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Nguyen, T., Collins, S. H. (2019) Human-in-the-loop optimization of ankle exoskeleton assistance for one individual with chronic stroke. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Poggensee, K. L, Butterfield, J. K., Collins, S. H. (2019) Exploring the relative contributions to reduced metabolic cost with an ankle exoskeleton. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Raitor, M., Tan, G. R., Collins, S. H. (2019) Design of a multidirectional, multi-contact robotic gait perturbation system. Dynamic Walking, Canmore, Canada, June 3-6, 2019. PDF
Song, S., Choi, H., Poggensee, K., Akteson, C. G., Collins, S. H. (2019) Human-in-the-loop optimization of ankle-exoskeleton assistance for faster preferred walking speed: a preliminary study. Dynamic Walking, Canmore, Canada, June 3-16, 2019. PDF
Song, S., Kidziński, L., Khidorka, R., Ong, C., Mohanty, S., Hicks, J., Ku, J., Carroll, S., Levine, S., Salathé, M., Atkeson, C., Collins, S., Delp, S. (2019) Learn to Move: a competition to bridge biomechanics, neuroscience, robotics, and machine learning to model human motor control. Dynamic Walking, Canmore, Canada, June 3-16, 2019. PDF
Voloshina A. S., Poggensee K. L., Butterfield J. K., Collins S. H. (2019) Effects of exoskeleton assistance applied to the sound leg of individuals with unilateral amputation during walking. Dynamic Walking, Canmore, Canada, June 3-16, 2019. PDF
Collins S. H. (2019) Invited: Motor learning is extremely important to successful exoskeleton gait augmentation. Congress of the International Society of Biomechanics, Calgary, Canada, July 31, 2019. Abstract
Collins S. H. (2019) Human-in-the-loop optimization of exoskeleton assistance. Orthotic and Prosthetic Innovative Technologies Conference, Ann Arbor, Michigan, USA, May 17, 2019. Abstract
Voloshina, A.S., Collins, S.H. (2018) Developing active assistive device control methods for individuals with lower-limb amputation. Technical University of Darmstadt, Darmstadt, Germany, October 8, 2018.
Voloshina, A.S. (2018) The biomechanics and energetics of walking and running on uneven terrain. International Autumn School on Movement Science, Berlin, Germany, October 8-12, 2018.
Collins, S. H. (2018) Keynote: Human-in-the-loop optimization of exoskeleton assistance during human walking. International Conference on Biomedical Robotics and Biomechatronics, U. Twente, Enschede, The Netherlands, August 28, 2018. Abstract
Collins, S. H. (2018) Lightweight, low-power electroadhesive clutches for biorobotic actuation. In: Workshop on novel bioinspired actuator designs for robotics. International Conference on Biomedical Robotics and Biomechatronics, U. Twente, Enschede, The Netherlands, August 26, 2018. Abstract
Collins, S. H. (2018) Human-in-the-loop optimization of exoskeleton assistance during walking. World Congress of Biomechanics, Dublin, Ireland, July 8, 2018. PDF
Jackson, R. W., Collins, S. H. (2018) Heuristic-based co-adaptation of ankle exoskeleton assistance during human walking. World Congress of Biomechanics, Dublin, Ireland, July 8, 2018. PDF
Song, S., Geyer, H., Collins, S. H., Atkeson, C. G. (2018) Towards predictive neuromechanical simulations for pathological gait and assistive devices. World Congress of Biomechanics, Dublin, Ireland, July 8-12, 2018. PDF
Collins, S. H. (2018) Human-in-the-loop optimization of powered orthosis design. Orthotic and Prosthetic Innovative Technologies Conference, San Francisco, California, USA, May 11, 2018.
Collins, S. H. (2018) The future of active prosthesis and orthosis design. Georgia Institute of Technology Prosthetic Orthotic Research Symposium, Atlanta, Georgia, USA, April 20, 2018.
Collins, S. H. (2017) Human-in-the-loop optimization of exoskeleton assistance. Sensori-Motor Control of Animals and Robots, Mathematical Biosciences Institute, Columbus, Ohio, USA, November 15, 2017.
Collins, S. H. (2017) NRI: Rapid exploration of ankle exoskeleton control strategies. NSF National Robotics Initiative PI Meeting, Alexandria, Virginia, USA, November 10, 2017.
Collins, S. H. (2017) Human-in-the-loop optimization of exoskeleton assistance. Workshop on Assessing and Optimizing Human-Robot Interaction in Wearable Robotic Devices. International Conference on Rehabilitation Robotics, London, England, July 17, 2017. Abstract
Collins, S. H. (2017) Plenary: Designing exoskeletons and prosthetic limbs that enhance human performance. International Society for Posture and Gait Research (ISPGR) World Congress, Fort Lauderdale, FL, USA, June 26, 2017. PDF
Collins, S. H. (2017) Automatic customization of exoskeleton control during walking. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Poggensee, K. L., Sreenath, K., Collins, S. H. (2017) Understanding the mechanisms behind human-in-the-loop optimization strategies. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Witte, K. A., Collins, S. H. (2017) An experimental comparison of human-in-the-loop optimized ankle exoskeleton control strategies. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Chiu, V. L., Voloshina, A. S., Collins, S. H. (2017) Implementing human-in-the-loop optimization on prosthesis emulators. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Jackson, R. W., Collins, S. H. (2017) Heuristic-based online adaptation of ankle exoskeleton assistance using plantarflexor electromyography. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Franks, P. W., Bryan, G., Klein, S. C., Collins, S. H. (2017) Design of a bilateral lower limb exoskeleton emulator. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Tan, G. R., Collins, S. H. (2017) Creating controlled perturbations to study stumble recovery strategies. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Nguyen, T., Jackson, R. W., Aucie, Y., Torres-Oviedo, G., Collins, S. H. (2017) Characterizing the relationship between step length asymmetry and metabolic rate during locomotion in post-stroke individuals. Dynamic Walking, Mariehamn, Åland, Finland, June 4-9, 2017. PDF
Collins, S. H. (2017) Designing exoskeletons that enhance performance through automatic customization. World Economic Forum, Davos, Switzerland, January 17, 2017. Video
Kim, M., Collins, S. H. (2016) Step-to-step ankle push-off work modulation can reduce balance-related effort in a robotic ankle-foot prosthesis. International Conference on Intelligent Robots and Systems (IROS), Workshop on Assistance and Service Robotics in a Human Environment, Daejeon, Korea, October 9-14, 2016. PDF
Steele, K. M., Jackson, R. W., Collins, S. H. (2016) Increased motor module complexity with an ankle exoskeleton. Annual meeting of the American Society of Biomechanics, Raleigh, North Carolina, USA, August 2-5, 2016. PDF
Poggensee, K. L., Sreenath, K., Collins, S. H. (2016) Methods to improve system identification in a human-exoskeleton system. Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016. PDF
Diller, S., Majidi, C., Collins, S. H. (2016) Exoskeleton walking with a lightweight, low-power electroadhesive clutch and spring. Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016. PDF
Chiu, V. L., Collins, S. H. (2016) Tripod: An ankle-foot prosthesis emulator with force control at three contact points. Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016. PDF
Caputo, J. M., Dvorak, E., Shipley, K., Collins, S. H. (2016) Emulation may enable efficient personalization of conventional prosthetic feet. Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016. PDF
Collins, S. H. (2016) Assisting human locomotion with unpowered devices. Human 2.0 Workshop, International Conference on Robotics and Automation, Stockholm, Sweden, May 16, 2016. PDF
Collins, S. H. (2016) Designing wearable robots to enhance human locomotor performance. Rehabilitation Robotics Workshop, Arizona State University, Tempe, Arizona, USA. February 9, 2016.
Collins, S. H. (2015) Prosthetic limbs that reduce the energy cost of walking to below non-amputee levels are possible but hard to discover. Annual Meeting of the American Society of Biomechanics, Columbus, Ohio, USA. August 8, 2015. PDF
Collins, S. H. (2015) Reducing the energy cost of human walking using an unpowered exoskeleton. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. Slides
Chen, T., Kim, M., Del Sesto, T., Collins, S. H. (2015) Inversion-eversion stiffness of ankle-foot prosthesis affects amputee's balance-related effort during walking. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Del Sesto, T., Kim, M., Chen, T., Collins, S. H. (2015) Active surface matching control using an ankle-foot prosthesis emulator with two axes of torque control. Submitted to: Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Diller, S., Majidi, C., Collins, S. H. (2015) Clutching with high force, high bandwidth, low mass and low energy consumption using electrostatics. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Emanuel, B. J., Collins, S. H. (2015) A disturbance emulation system for stability and recovery testing. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Gabriel, J., Collins, S. H. (2015) Design of an agonist-antagonist knee prosthesis for experiments in human locomotion. Submitted to: Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Jackson, R. W., Dembia, C. L., Delp, S. L., Collins, S. H. (2015) Estimated changes in muscle-level dynamics and energetics under different levels of exoskeleton-applied work and torque. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Kim, M., Chen, T., Del Sesto, T., Collins, S. H. (2015) Step-to-step ankle in/eversion torque control in a robotic ankle-foot prosthesis may reduce balance-related effort during walking. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Nuckols, R. W., Collins, S. H., Sawicki, G. S. (2015) An emulator system to characterize optimal elastic ankle exoskeleton stiffness during human walking and running. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Poggensee, K. L., Sreenath, K., Collins, S. H. (2015) Identifying the dynamics of a human-exoskeleton system. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Rawding, K. E., Jackson, R. W., Collins, S. H. (2015) A parameter study of joint torque control during walking with bilateral ankle exoskeletons. Submitted to: Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Witte, K. A., Collins, S. H. (2015) Design of a comfortable pure moment knee exoskeleton. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Wu, M., Adamczyk, P. G., Collins, S. H. (2015) Effort-o-Meter: The relationship between effort of walking and amount of walking performed. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Zhang, J., Collins, S. H. (2015) Selecting the best series stiffness and iterative learning gains for exoskeleton torque control. Dynamic Walking, Columbus, Ohio, USA, July 21-24, 2015. PDF
Collins, S. H. (2015) Prosthetic limbs that reduce the energy cost of human walking to below non-amputee levels are possible but hard to discover Invited: Annual meeting of the American Society of Biomechanics, Columbus, Ohio, USA, August 5-8, 2015. PDF
Caputo, J. M., Adamczyk, P. G., Collins, S. H. (2015) Emulating candidate ankle-foot prostheses to inform prescription. Submitted to: Annual meeting of the American Society of Biomechanics, Columbus, Ohio, USA, August 5-8, 2015. PDF
Witte, K. A., Collins, S. H. (2015) Design of two lightweight high bandwidth torque-controlled ankle exoskeletons. Submitted to: Annual meeting of the American Society of Biomechanics, Columbus, Ohio, USA, August 5-8, 2015. PDF
Wu, M., Adamczyk, P. G., Collins, S. H. (2015) Effort-o-meter: The relationship between effort of walking and amount of walking performed. Submitted to: Annual meeting of the American Society of Biomechanics, Columbus, Ohio, USA, August 5-8, 2015. PDF
Zhang, J., Cheah, C. C., Collins, S. H. (2015) Comparison of torque controllers for an ankle exoskeleton with a series elastic actuator driven by a uni-directional Bowden cable during walking. Submitted to: Annual meeting of the American Society of Biomechanics, Columbus, Ohio, USA, August 5-8, 2015. PDF
Collins, S. H. (2015) Optimizing (artificial) ankle function during walking. Invited: Symposium on Adaptive Motion of Animals and Machines, Boston, Massachusetts, USA, June 21-25, 2015. TXT
Galle, S., Malcolm, P., Collins, S. H., Speekaert, J., De Clercq, D. (2015) Optimizing robotic exoskeletons actuation based on human neuromechanics experiments: interaction of push-off timing and work. Submitted to: Symposium on Adaptive Motion of Animals and Machines, Boston, Massachusetts, USA, June 21-25, 2015. PDF
Caputo, J. M., Collins, S. H. (2014) The effect of ankle-foot prosthesis push-off work on walking kinetics and overall effort. In proceedings: World Congress of Biomechanics, Boston, Massachusetts, USA, July 6-11, 2014. PDF
Jackson, R. W., Collins, S. H. (2014) The relative benefits of work assistance and torque assistance in ankle exoskeletons. Accepted as podium presentation: World Congress of Biomechanics, Boston, Massachussetts, USA, July 6-11, 2014. PDF
Kim, M., Tembulkar, T., Collins, S. H. (2014) Modulating prosthetic ankle push-off work at each step reduces balancing effort during walking. Accepted as podium presentation: World Congress of Biomechanics, Boston, Massachussetts, USA, July 6-11, 2014. PDF
Malcolm, P., Quesada, R., Caputo, J. M., De Clerq, D., Collins, S. H. (2014) Effect of push-off timing on metabolic cost during walking with a universal ankle-foot prosthesis emulator. Accepted as podium presentation: Dynamic Walking, Zurich, Switzerland, June 10-14, 2014. PDF
Collins, S. H., Caputo, J. M. (2013) Biomechanics-centered design of robotic lower-limb prostheses and orthoses. In: Proceedings of the annual meeting of the American Society of Biomechanics, Omaha, Nebraska, USA, September 4-7, 2013. PDF
Caputo, J. M., Collins, S. H. (2013) Quantifying the relationship between prosthesis work and metabolic rate. In: Proceedings of Dynamic Walking, Pittsburgh, Pennsylvania, USA, June 9-13, 2013. PDF
Jackson, R. W., Collins, S. H. (2013) Manipulating self-selected gait patterns with an adaptive exoskeleton. In: Proceedings of Dynamic Walking, Pittsburgh, Pennsylvania, USA, June 9-13, 2013. PDF
Kim, M., Collins, S. H. (2013) Ankle push-off is equally important to foot placement in stabilizing three-dimensional walking. In: Proceedings of Dynamic Walking, Pittsburgh, Pennsylvania, USA, June 9-13, 2013. PDF
Collins, S. H. (2012) Towards tip-top testbeds: Biomechatronics for accelerated development of assistive devices. In: Proceedings of the annual meeting of the Canadian Society of Biomechanics, Vancouver, Canada, June 6-9, 2014. PDF
Caputo, J. M., Collins, S. H. (2012) An externally powered and controlled ankle-foot prosthesis for use in push-off experiments. In: Proceedings of the annual meeting of the American Society of Biomechanics, Gainesville, Florida, USA, August 15-18, 2012. PDF
Eicholtz, M. R., Collins, S. H. (2012) Two-dimensional parameter study to characterize performance of ankle-foot orthosis joint impedance control. In: Proceedings of the annual meeting of the American Society of Biomechanics, Gainesville, Florida, USA, August 15-18, 2012.
Jackson, R. W., Collins, S. H. (2012) Targeting specific muscles for rehabilitation with an EMG-controlled ankle-foot orthosis. In: Proceedings of the Conference on Dynamic Walking, Pensacola, Florida, USA, May 21-25, 2012. PDF
Kim, M. H., Collins, S. H. (2012) Ankle control design to enhance sagittal stability for lower-limb amputees. In: Proceedings of the Conference on Dynamic Walking, Pensacola, Florida, USA, May 21-25, 2012. PDF
Caputo, J. M., Collins, S. H. (2011) Externally powered and controlled ankle-foot prosthesis. In: Proceedings of the Conference on Dynamic Walking, Jena, Germany, July 18-21, 2011. PDF
Eicholtz, M. R., Collins, S. H. (2011) Design of a portable, lightweight ankle-foot orthosis (AFO) to reduce metabolic cost of walking. In: Proceedings of the Conference on Dynamic Walking, Jena, Germany, Germany, July 18-21, 2011. PDF
Collins, S. H. (2011) Exploring ankle control strategies with an experimental biomechatronic testbed. In: Proc. Conf. on Dynamic Walking, Jena, Germany, Germany, July 18-21, 2011.
Thanks to Gordon Composites for donating fiberglass materials for prosthesis and orthosis fabrication.
Prior publications by Prof. Collins are available at his personal website.
