Patrick Wensing

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Massachusetts Institute of Technology

United States

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Recent Grants

Grant: Close

NRI: FND: Using Template Models to Identify Exoskeleton User Intent

Open Date: 2017-09-01

Close Date: 2020-08-31

Articles (19)

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Collaborators (2)

Ryan Russell

Associate Professor

University of Texas at Austin

UNITED STATES

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Andrea Del Prete

Associate Professor

University of Trento

ITALY

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Patrick Wensing

Research Interests

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Recent Grants

Articles (19)

A Task-Space Control Framework for Powered Ankle Prostheses: Design, Implementation, and Evaluation

Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework With Tuning-Free Whole-Body Control

A geometric characterization of observability in inertial parameter identification

3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies

Engineering Compliance in Legged Robots Via Robust Co-Design

Lower-Limb Myoelectric Calibration Postures for Transtibial Prostheses

On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation

Optimization-Based Control for Dynamic Legged Robots

CACTO: Continuous Actor-Critic With Trajectory Optimization—Towards Global Optimality

Finite-State Impedance and Direct Myoelectric Control for Robotic Ankle Prostheses: Comparing Their Performance and Exploring Their Combination

Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance

Balancing on a Rolling Contact

A Geometric Sufficient Condition for Contact Wrench Feasibility

Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information

Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra

Smooth Parameterization of Rigid-Body Inertia

Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction

Robust Co-Design: Coupling Morphology and Feedback Design Through Stochastic Programming

Approximate Simulation for Template-Based Whole-Body Control

Collaborators (2)

Ryan Russell

Andrea Del Prete

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