R. L. McGrath

Using Repetitive Control to Enhance Force Control During Human-Robot Interaction in Quasi-Periodic Tasks

This study evaluates repetitive control methods for improving force control in human-robot interaction during quasi-periodic tasks, showing significant error reduction compared to a passive proportional controller.

Robot-aided Training of Propulsion During Walking: Effects of Torque Pulses Applied to the Hip and Knee Joints During Stance

This study evaluates how torque pulses applied to hip and knee joints during walking affect propulsion metrics, finding that pulse timing and type significantly modulate hip extension and propulsive impulse.

Single-stride exposure to pulse torque assistance provided by a robotic exoskeleton at the hip and knee joints

The paper applies robotic exoskeleton torque pulses to hip and knee joints during walking to modulate push-off posture and measures effects on propulsive impulse and hip extension.

The effect of stride length on lower extremity joint kinetics at various gait speeds

This study examines how gait speed and stride length affect lower extremity joint moments in healthy individuals, identifying localized effects and proposing torque pulse strategies for robotic gait assistance.