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Curt A. Laubscher
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Journal Articles

Hybrid Zero Dynamics Control of an Underactuated Lower-Limb Exoskeleton for Gait Guidance

Anthony Goo, Curt A. Laubscher, Jerzy T. Sawicki
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2022, 144(6): 061008.
Paper No: DS-21-1273
https://doi.org/10.1115/1.4053946
Published Online: March 22, 2022
View Articletitled, Hybrid Zero Dynamics Control of an Underactuated Lower-Limb Exoskeleton for Gait Guidance
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Topics: Control equipment, Dynamics (Mechanics), Exoskeleton devices, Optimization, Simulation
Journal Articles

An Anthropometrically Parameterized Assistive Lower Limb Exoskeleton

Curt A. Laubscher, Ryan J. Farris, Antonie J. van den Bogert, Jerzy T. Sawicki
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Design Innovation Paper
J Biomech Eng. October 2021, 143(10): 105001.
Paper No: BIO-20-1420
https://doi.org/10.1115/1.4051214
Published Online: June 17, 2021
View Articletitled, An Anthropometrically Parameterized Assistive Lower Limb Exoskeleton
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Topics: Exoskeleton devices, Design methodology, Knee, Torque
Journal Articles

A Robust Impedance Controller for Improved Safety in Human–Robot Interaction

Curt A. Laubscher, Jerzy T. Sawicki
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 091004.
Paper No: DS-20-1460
https://doi.org/10.1115/1.4050504
Published Online: April 15, 2021
View Articletitled, A Robust Impedance Controller for Improved Safety in Human–Robot Interaction
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Topics: Boundary layers, Control equipment, Signals, Sliding mode control, Switches, Safety, Human-robot interaction, Chatter
Proceedings Papers

Robust Control-Oriented Modeling of a Feedback-Linearized Powered Pediatric Lower-Limb Orthosis

Curt A. Laubscher, Jerzy T. Sawicki
Proc. ASME. IMECE2019, Volume 4: Dynamics, Vibration, and Control, V004T05A013, November 11–14, 2019
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2019-10503
https://doi.org/10.1115/IMECE2019-10503
View Paper titled, Robust Control-Oriented Modeling of a Feedback-Linearized Powered Pediatric Lower-Limb Orthosis
Open the PDF for Robust Control-Oriented Modeling of a Feedback-Linearized Powered Pediatric Lower-Limb Orthosis in another window
Topics: Feedback, Modeling, Orthotics, Pediatrics, Uncertainty, Control equipment, Nonlinear systems, Robust control, Design, Frequency response
Proceedings Papers

Design and Preliminary Evaluation of a Powered Pediatric Lower Limb Orthosis

Curt A. Laubscher, Ryan J. Farris, Jerzy T. Sawicki
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A061, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67599
https://doi.org/10.1115/DETC2017-67599
View Paper titled, Design and Preliminary Evaluation of a Powered Pediatric Lower Limb Orthosis
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Topics: Design, Orthotics, Pediatrics, Actuators, Knee, Engineering prototypes, Errors, Torque, Electronics, Friction