Publications by authors named "Steven H Collins"

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How peak knee loads are affected by changing the mass of lower-limb body segments during walking.
Delaney E Miller, Ashley E Brown, Nicholas A Bianco, Rucha Bhise, Scott L Delp, Steven H Collins

PLoS Comput Biol· September 2025

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A Data-Driven Approach to Estimate Changes in Peak Knee Contact Force With Exoskeleton Assistance.
Delaney E Miller, Ashley E Brown, Nicholas A Bianco, Scott L Delp, Steven H Collins

IEEE Trans Neural Syst Rehabil Eng· August 2025

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Design of an ankle exoskeleton with twisted string actuation for running assistance.
Guan Rong Tan, Steven H Collins

Wearable Technol· July 2025

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Detecting artificially impaired balance in human locomotion: metrics, perturbation effects and detection thresholds.
Jiaen Wu, Michael Raitor, Guan Rong Tan, Kristan L Staudenmayer, Scott L Delp, Steven H Collins

J Exp Biol· May 2025

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On human-in-the-loop optimization of human-robot interaction.
Patrick Slade, Christopher Atkeson, J Maxwell Donelan, Han Houdijk, Kimberly A Ingraham, Steven H Collins

Nature· September 2024

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Lower-Limb Exoskeletons Appeal to Both Clinicians and Older Adults, Especially for Fall Prevention and Joint Pain Reduction.
Michael Raitor, Sandra Waugh Ruggles, Scott L Delp, C Karen Liu, Steven H Collins

IEEE Trans Neural Syst Rehabil Eng· April 2024

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Elastic energy-recycling actuators for efficient robots.
Erez Krimsky, Steven H Collins

Sci Robot· March 2024

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Optimizing exoskeleton assistance to improve walking speed and energy economy for older adults.
Ava Lakmazaheri, Seungmoon Song, Brian B Vuong, Blake Biskner, Deborah M Kado, Steven H Collins

J Neuroeng Rehabil· January 2024

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Lower limb biomechanics of fully trained exoskeleton users reveal complex mechanisms behind the reductions in energy cost with human-in-the-loop optimization.
Katherine L Poggensee, Steven H Collins

Front Robot AI· January 2024

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AddBiomechanics: Automating model scaling, inverse kinematics, and inverse dynamics from human motion data through sequential optimization.
Keenon Werling, Nicholas A Bianco, Michael Raitor, Jon Stingel, Jennifer L Hicks, Steven H Collins

PLoS One· December 2023

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AddBiomechanics: Automating model scaling, inverse kinematics, and inverse dynamics from human motion data through sequential optimization.
Keenon Werling, Nicholas A Bianco, Michael Raitor, Jon Stingel, Jennifer L Hicks, Steven H Collins

bioRxiv· September 2023

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Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking.
Nicholas A Bianco, Steven H Collins, Karen Liu, Scott L Delp

PLoS Comput Biol· August 2023

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Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement.
Cara Gonzalez Welker, Steven H Collins, Allison M Okamura

IEEE Trans Haptics· April 2023

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Robotic Emulation of Candidate Prosthetic Foot Designs May Enable Efficient, Evidence-Based, and Individualized Prescriptions.
Joshua M Caputo, Evan Dvorak, Kate Shipley, Mary Ann Miknevich, Peter G Adamczyk, Steven H Collins

J Prosthet Orthot· October 2022

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Personalizing exoskeleton assistance while walking in the real world.
Patrick Slade, Mykel J Kochenderfer, Scott L Delp, Steven H Collins

Nature· October 2022

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The Effects of Incline Level on Optimized Lower-Limb Exoskeleton Assistance: A Case Series.
Patrick W Franks, Gwendolyn M Bryan, Ricardo Reyes, Meghan P O'Donovan, Karen N Gregorczyk, Steven H Collins

IEEE Trans Neural Syst Rehabil Eng· September 2022

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General variability leads to specific adaptation toward optimal movement policies.
Sabrina J Abram, Katherine L Poggensee, Natalia Sánchez, Surabhi N Simha, James M Finley, Steven H Collins

Curr Biol· May 2022

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Characterizing the relationship between peak assistance torque and metabolic cost reduction during running with ankle exoskeletons.
Delaney E Miller, Guan Rong Tan, Emily M Farina, Alison L Sheets-Singer, Steven H Collins

J Neuroeng Rehabil· May 2022

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The energy cost of split-belt walking for a variety of belt speed combinations.
Julia K Butterfield, Steven H Collins

J Biomech· February 2022

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Optimized hip-knee-ankle exoskeleton assistance reduces the metabolic cost of walking with worn loads.
Gwendolyn M Bryan, Patrick W Franks, Seungmoon Song, Ricardo Reyes, Meghan P O'Donovan, Steven H Collins

J Neuroeng Rehabil· November 2021

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Comparing optimized exoskeleton assistance of the hip, knee, and ankle in single and multi-joint configurations.
Patrick W Franks, Gwendolyn M Bryan, Russell M Martin, Ricardo Reyes, Ava C Lakmazaheri, Steven H Collins

Wearable Technol· November 2021

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Optimized hip-knee-ankle exoskeleton assistance at a range of walking speeds.
Gwendolyn M Bryan, Patrick W Franks, Seungmoon Song, Alexandra S Voloshina, Ricardo Reyes, Steven H Collins

J Neuroeng Rehabil· October 2021

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How adaptation, training, and customization contribute to benefits from exoskeleton assistance.
Katherine L Poggensee, Steven H Collins

Sci Robot· September 2021

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Sensing leg movement enhances wearable monitoring of energy expenditure.
Patrick Slade, Mykel J Kochenderfer, Scott L Delp, Steven H Collins

Nat Commun· July 2021

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The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations.
Juanjuan Zhang, Steven H Collins

Front Neurorobot· May 2021

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