Robert Gregg

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Associate Professor

University of Michigan

United States

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About

Robert Gregg is an Associate Professor at the University of Michigan, USA. His research primarily focuses on the development and control of powered prosthetic devices, including advanced knee-ankle prostheses and exoskeletons. Recent articles highlight his work on control frameworks, adaptive strategies for ambilateral activity recognition, and innovative applications in lower-limb robotics.

Recent Grants

Grant: Close

NRI: INT: Collaborative Research: An Open-Source Framework for Continuous Torque Control of Intuitive Robotic Prosthetic Legs

Open Date: 2020-10-01

Close Date: 2024-09-01

Grant: Close

NRI: FND: COLLAB: Optimal Design of Robust Compliant Actuators for Ubiquitous Co-Robots

Open Date: 2018-09-15

Close Date: 2021-08-31

Grant: Close

Controlling Locomotion over Continuously Varying Activities for Agile Powered Prosthetic Legs

Open Date: 2018-09-01

Close Date: 2023-05-31

Grant: Close

NRI: Decentralized Feedback Control Design for Cooperative Robotic Walking with Application to Powered Prosthetic Legs

Open Date: 2018-08-15

Close Date: 2020-08-31

Grant: Close

NRI: FND: COLLAB: An Open-Source Robotic Leg Platform that Lowers the Barrier for Advanced Prosthetics Research

Open Date: 2017-10-01

Close Date: 2020-09-30

Articles (20)

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2021

Collaborators (6)

Maani Ghaffari

University of Michigan

UNITED STATES

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Nicholas R. Gans

UNITED STATES

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Edgar Bolívar

Assistant Professor

University of Notre Dame

UNITED STATES

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Jianping Lin

University of Michigan

UNITED STATES

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Gray Thomas

Assistant Professor

Texas A&M University

UNITED STATES

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Elliott Rouse

Assistant Professor

University of Michigan

UNITED STATES

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Robert Gregg

Research Interests

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About

Recent Grants

Articles (20)

The clinical effects of the Össur Power Knee with phase-based and default control during sitting, standing, and walking

A Clinical Tuning Framework for Continuous Kinematic and Impedance Control of a Powered Knee-Ankle Prosthesis

Ambilateral Activity Recognition and Continuous Adaptation With a Powered Knee-Ankle Prosthesis

Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets

A Versatile Knee Exoskeleton Mitigates Quadriceps Fatigue in Lifting, Lowering, and Carrying Tasks

A Control Framework for Accurate Mechanical Impedance Rendering With Series-Elastic Joints in Prosthetic Actuation Applications

Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots

The Next Generation of Robotics: The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems in Detroit, MI, USA [Conference Highlights]

Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles

Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent

Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain

Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking

Optimally Biomimetic Passivity-Based Control of a Lower-Limb Exoskeleton Over the Primary Activities of Daily Life

Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations

Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses

Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing

Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds

Stability of Time-Invariant Extremum Seeking Control for Limit Cycle Minimization

Predicting Individualized Joint Kinematics Over Continuous Variations of Walking, Running, and Stair Climbing

Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses

Collaborators (6)

Maani Ghaffari

Nicholas R. Gans

Edgar Bolívar

Jianping Lin

Gray Thomas

Elliott Rouse

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