Related Sites



Selected Publications

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.

Supplementary PDF

video

Caputo, J. M., Collins, S. H. (2014) A universal ankle-foot prosthesis emulator for human locomotion experiments. J. Biomechanical Engineering, 136:035002.

Bill of Materials

CAD Files

Matlab Code

History

images

videos

Collins, S. H., Kuo, A. D. (2010) Recycling energy to restore impaired ankle function during human walking. Public Library of Science ONE, 5:e9307.

supporting PDF

high-speed

images

Collins, S. H., Adamczyk, P. G., Kuo, A. D. (2009) Dynamic arm swinging in human walking. Proceedings of the Royal Society of London B., 276:3679-3688.

supplementary PDF

model

experiment

physical model

Collins, S. H., Ruina, A. L., Tedrake, R., Wisse, M. (2005) Efficient bipedal robots based on passive-dynamic walkers. Science, 307:1082-1085.

supporting PDF

walking

compilation

photos

Collins, S. H., Wisse, M., Ruina, A. (2001) A three-dimensional passive-dynamic walking robot with two legs and knees. Int. J. Robotics Research, 20:607-615.

walking

walking (rear)

photos



Other Publications and Proceedings

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, 6 pages - in review. PDF -

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, 6 pages - in review. PDF - -

Witte, K. A., Zhang, J., Jackson, R. W., Collins, S.H. (2015) Design of two lightweight, high-bandwidth torque-controlled ankle exoskeletons. In Proceedings IEEE International Conference on Robotics and Automation, 6 pages - in review. PDF -

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, 6 pages - in review. PDF

Collins, S. H., Caputo, J. M., Adamczyk, P. G. (2014) Emulating prosthetic feet during the prescription process to improve outcomes and justifications. In Proc. IEEE Workshop on Advanced Robotics and its Social Impacts, 2 pages. PDF

Collins, S. H., Jackson, R. W. (2013) Inducing self-selected human engagement in robotic locomotion training. In Proceedings International Conference on Rehabilitation Robotics, pages 1-6. 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, pages 1-6. 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. PDF - video

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. 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. PDF

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

Collins. S. H., Kuo, A. D. (2013) Two independent contributions to step variability during over-ground human walking. Public Library of Science ONE, 8:e73597. PDF

Wiggin, M. B, Sawicki, G. S., and Collins. S. H. (2011) An exoskeleton using controlled energy storage and release to aid ankle propulsion. In Proceedings of the International Conference on Rehabilitation Robotics, pages 1-5. PDF

Zelik, K. E., Collins. S. H., Adamczyk, P. G., Segal, A. D., Klute, G. K., Morgenroth, D. C., Hahn, M. E., Orendurff, M. S., Czerniecki, J. M., Kuo, A. D. (2011) Systematic variation of prosthetic foot parameter affects center-of-mass mechanics and metabolic cost during walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering 19:411-419. PDF

Segal, A. D., Zelik, K. E., Klute, G. K., Morgenroth, D. C., Hahn, M. E., Orendurff, M. S., Adamczyk, P. G., Collins, S. H., Kuo, A. D., Czerniecki, J. M. (2011) The effects of a controlled energy storage and return prototype prosthetic foot on transtibial amputee ambulation. Human Movement Science, 31:918-931. PDF

Morgenroth, D. C., Segal, A. D., Zelik, K. E., Czerniecki, M. J., Klute, G. K., Adamczyk, P. G., Orendurff, M. S., Hahn, M. E., Collins, S. H., Kuo, A. D. (2011) The effect of prosthetic foot push-off on mechanical loading associated with knee osteoarthritis in lower extremity amputees. Gait & Posture, 34:502-507. PDF

Bregman, D. J., van der Krogt, M. M., de Groot, V., Harlaar, J., Wisse, M., Collins, S. H. (2011) The effect of ankle foot orthosis stiffness on the energy cost of walking: a simulation study. Clinical Biomechanics, 26:955-961. PDF

van der Krogt, M. M., Bregman, D. J. J., Wisse, M., Doorenbosch, C. A. M., Harlaar, J., Collins, S. H. (2010) How crouch gait can dynamically induce stiff-knee gait. Annals of Biomedical Engineering, 38:1593-1606. PDF

Collins, S. H., Adamczyk, P. G., Ferris, D. P., Kuo, A. D. (2009) A simple method for calibrating force plates and force treadmills using an instrumented pole. Gait & Posture, 29:59-64.

supplementary PDF

sample code

demonstration

Vanderpool, M. T., Collins, S. H., Kuo, A. D. (2008) Ankle fixation need not increase the energetic cost of human walking. Gait & Posture, 28:427-433. PDF

Adamczyk, P. G., Collins, S. H., Kuo, A. D. (2006) The advantages of a rolling foot in human walking. Journal of Experimental Biology, 209:3953-3963. PDF

Collins, S. H., Ruina, A. (2005) A bipedal walking robot with efficient and human-like gait. In Proc. IEEE International Conference on Robotics & Automation, pages 1983-1988.

walking

compilation

photos

Pratt, J. E., Krupp, B. T., Morse, C. J., Collins, S. H. (2004) The RoboKnee: an exoskeleton for enhancing strength and endurance during walking. In Proc. IEEE International Conference on Robotics and Automation, pages 2430-2435.

demonstration



Movie and Image Links

Prosthesis Emulator

Energy-Recycling Foot

Arm Swinging

Walking Robot

Passive Robot

Other Movies