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Publications

Selected Publications

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, in press. *contributed equally. Article | PDF | Videos: Walking, Gaits, Benchtop, Adjusting | Questionnaire | Bill of Materials | CAD

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 | Video | Data | Code and Instructions

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, pp 9093-9099. *contributed equally. Article | PDF | Video | Talk Video | Design Materials

Zhang, J., Fiers, P., Witte, K. A., Jackson, R. W., Poggensee, K. L., Atkeson, C. G., Collins, S. H. (2017) Human-in-the-loop optimization of exoskeleton assistance during walking. Science, 356:1280-1284.
Article | PDF |
Supplementary PDF | Optimization Code | Study Data | Photos | Videos

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 | 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 682-689.
Article | PDF | Videos

Quesada, R. E., Caputo J. M., Collins, S.H. (2016) Increasing ankle push-off work with a powered prosthesis does not necessarily reduce metabolic rate for transtibial amputees. Journal of Biomechanics, 49:3452-3459.
Article | PDF | Supplementary PDF | Source Data

Collins, S. H., Wiggin, M. B., Sawicki, G. S. (2015) Reducing the energy cost of human walking using an unpowered exoskeleton. Nature, 522:212-215.
Article | PDF | Supplementary PDF | Clutch Design | CAD | Results Table | Source Data | Photos | Videos

Caputo, J. M., Collins, S. H. (2014) A universal ankle-foot prosthesis emulator for human locomotion experiments. Journal of Biomechanical Engineering, 136:035002.
Article | PDF | History | 3D PDF | Bill of Materials | CAD Files | Matlab Code | Videos


Additional Journal Articles

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 | Experiment Video | Explainer 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 | Video | Photos

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. Article | PDF

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. Article | PDF

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. Article | PDF | Supplementary Information | Cover

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. Article | PDF | Video

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, 29:3804-3828. Article | PDF | Videos

Kim, M., Chen, T., Chen, T., Collins, S. H. (2018) An ankle-foot prosthesis emulator with control of plantarflexion and inversion-eversion torque. Transactions on Robotics, 34:1183-1194. Article | PDF | Videos

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, 220:2082-2095. Article | PDF | Supplementary PDF

Zhang, J., Collins, S. H. (2017) The passive series stiffness that optimizes torque tracking for a lower-limb exoskeleton in human walking. Frontiers in Neurorobotics, 11:68. Article | PDF

Kim, M., Collins, S. H. (2017) Step-to-step ankle inversion/eversion torque modulation can reduce effort associated with balance. Frontiers in Neurorobotics, 11:62. Article | PDF

Steele, K. M., Jackson, R. W., Shuman, B., Collins, S. H. (2017) Muscle recruitment and coordination with an ankle exoskeleton. Journal of Biomechanics, 59:50-58. Article | PDF

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 | Supplementary 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, 119:541-557. Article | PDF | Data | Video

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 | Video

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 | Video

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


Additional Book Chapters

Witte, K. A., and Collins, S. H. (2019) 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 251-274. Chapter | PDF | BOM | CAD

Voloshina, A. S., and Collins, S. H. (2019) A review of design and control approaches in lower-limb prosthetic devices. In Wearable Robotics: Systems and Applications, with editors Ferguson, P. W., Rosen, J., Elsevier, Chapter 23, pages 469-486. Chapter | PDF

Zhang, J., Cheah, C. C., and Collins, S. H. (2017) Torque control in legged locomotion. In Bio-Inspired Legged Locomotion: Models, Concepts, Control and Applications, with editors Sharbafi, M., Seyfarth, A., Butterworth-Heinemann, Chapter 5, pages: 347-395. Book | PDF | Supplementary PDF


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 3559-3565. Article | PDF | Video | 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. *contributed equally. Article | PDF | Talk Video | Video

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. Article | PDF

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 | Bandwidth Video

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 | Video

Collins, S. H., Kim, M., Chen, T., Chen, T. (2015) An ankle-foot prosthesis emulator with control of plantarflexion and inversion-eversion torque. In Proceedings IEEE International Conference on Robotics and Automation, pages 1210-1216. Article | PDF | Videos

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 | Video

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 5584-5589. Article | PDF

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 127-128. Article | PDF

Collins, S. H. (2013) What do walking humans want from mechatronics? (Invited presentation). In Proceedings International Conference on Mechatronics, pages 24-27. Article | PDF

Collins, S. H., Jackson, R. W. (2013) Inducing self-selected human engagement in robotic locomotion training. In Proceedings International Conference on Rehabilitation Robotics, 6 pages. Article | PDF

Kim, M., Collins, S. H. (2013) Stabilization of a three-dimensional limit cycle walking model through step-to-step ankle control. In Proceedings International Conference on Rehabilitation Robotics, 6 pages. Article | PDF

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 2630-2635. Article | PDF

Zhang, J., Cheah, C. C., Collins, S. H. (2013) Stable human-robot interaction control for upper-limb rehabilitation robotics. In Proceedings International Conference on Robotics and Automation, pages 2201-2206. Article | PDF

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 3179-3182. Article | PDF

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, 6 pages. Article | PDF


Dissertations and Theses

Stuart B. Diller (2018) Design, characterization, and implementation of lightwieght and energy-efficient electroadhesive clutches for robotics. PhD Dissertation, Department of Mechanical Engineering, Carnegie Mellon University, 125 pages. PDF

Kirby Ann Witte (2018) Design, characterization, and implementation of lower-limb exoskeletons for performance augmentation during walking and running. PhD Dissertation, Department of Mechanical Engineering, Carnegie Mellon University, 166 pages. PDF

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, 152 pages. PDF

Juanjuan Zhang (2016) Towards systematic controller design in rehabilitation robots. PhD Dissertation, Department of Mechanical Engineering, Carnegie Mellon University, 271 pages. PDF

Blair J. Emanuel (2016) A Disturbance emulation device for stability and recovery testing. Master's thesis, Department of Mechanical Engineering, Carnegie Mellon University, 6 pages. PDF

James Gabriel (2016) Design and Deployment of a knee prosthesis emulator system. Master's thesis, Department of Mechanical Engineering, Carnegie Mellon University, 6 pages. PDF

Myunghee Kim (2015) Ankle controller design for robotic ankle-foot prostheses to reduce balance-related effort during walking using a dynamic walking approach. PhD Dissertation, Department of Mechanical Engineering, Carnegie Mellon University, 205 pages. PDF

Joshua M. Caputo (2015) Informing ankle-foot prosthesis design and prescription through systematic experimentation with a tethered robotic prosthesis. PhD Dissertation, Department of Mechanical Engineering, Carnegie Mellon University, 154 pages. PDF

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, 20 pages. PDF


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.