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Journal Articles

SW-SiStA2: A New-Generation Semi-Wearable Device for Sit-to-Stand Assistance

Md Rayhan Afsar, Ashiq Ashiquzzaman, Dario Martelli, Xiangrong Shen
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. September 2023, 17(3): 031001.
Paper No: MED-22-1161
https://doi.org/10.1115/1.4062337
Published Online: May 15, 2023
View Article titled, SW-SiStA2: A New-Generation Semi-Wearable Device for Sit-to-Stand Assistance
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Topics: Design, Knee, Muscle, Springs, Torque, Mechanical admittance
Journal Articles

Quadrupedal Human-Assistive Robotic Platform (Q-HARP): Design, Control, and Preliminary Testing

Tao Shen, Md Rayhan Afsar, Md Rejwanul Haque, Eric McClain, Sanford Meek, Xiangrong Shen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021004.
Paper No: JMR-21-1174
https://doi.org/10.1115/1.4052321
Published Online: September 20, 2021
View Article titled, Quadrupedal Human-Assistive Robotic Platform (Q-HARP): Design, Control, and Preliminary Testing
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Topics: Design, Robotics, Robots, Trajectories (Physics), Mechanical admittance, Steady state
Journal Articles

RailBot: A Novel Assistive Device for Stair Climbing

Md Rayhan Afsar, Md Rejwanul Haque, Mason Dooley, Xiangrong Shen
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2021, 15(1): 014505.
Paper No: MED-20-1155
https://doi.org/10.1115/1.4049546
Published Online: January 28, 2021
View Article titled, RailBot: A Novel Assistive Device for Stair Climbing
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Topics: Design, Engineering prototypes, Muscle, Stairs, Mechanical admittance
Proceedings Papers

Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation

Tao Shen, Md Rayhan Afsar, He Zhang, Cang Ye, Xiangrong Shen
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A009, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9223
https://doi.org/10.1115/DSCC2018-9223
View Paper titled, Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation
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Topics: Image processing, Robotics, Control equipment, Muscle, Robots, Errors, Mechanical admittance, Noise (Sound), Wheelchairs
Proceedings Papers

A Robotic Ankle-Foot Orthosis for Daily-Life Assistance and Rehabilitation

Md Rejwanul Haque, Hao Zheng, Saroj Thapa, Geza Kogler, Xiangrong Shen
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A010, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9242
https://doi.org/10.1115/DSCC2018-9242
View Paper titled, A Robotic Ankle-Foot Orthosis for Daily-Life Assistance and Rehabilitation
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Topics: Orthotics, Robotics, Design, Torque, Control equipment, Engineering prototypes, Engines, Friction, Gears, Motors
Proceedings Papers

A Motorized Robotic Walker for Human Walking Assistance

Md Rayhan Afsar, Michael Wadsworth, Tao Shen, He Zhang, Cang Ye, Xiangrong Shen
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T05A013, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3501
https://doi.org/10.1115/DMD2017-3501
View Paper titled, A Motorized Robotic Walker for Human Walking Assistance
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Topics: Robotics, Mechanical admittance, Robots, Wheelchairs, Bone, Computers, Design, Energy consumption, Muscle, Musculoskeletal system
Proceedings Papers

Toward a Low-Cost Modular Powered Transtibial Prosthesis: Initial Prototype Design and Testing

Molei Wu, Saroj Thapa, Md Rejwanul Haque, Xiangrong Shen
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T05A014, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3504
https://doi.org/10.1115/DMD2017-3504
View Paper titled, Toward a Low-Cost Modular Powered Transtibial Prosthesis: Initial Prototype Design and Testing
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Topics: Design, Engineering prototypes, Prostheses, Testing, Manufacturing, Robotics, Actuators, Artificial limbs, Electromagnetic actuators, Energy generation
Proceedings Papers

Sit-to-Stand Control of Powered Knee Prostheses

Molei Wu, Md Rejwanul Haque, Xiangrong Shen
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T05A015, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3507
https://doi.org/10.1115/DMD2017-3507
View Paper titled, Sit-to-Stand Control of Powered Knee Prostheses
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Topics: Knee joint prostheses, Knee, Prostheses, Torque, Control equipment, Mechanical admittance, Biomechanics, Center of mass
Proceedings Papers

Walking-Stair Climbing Control for Powered Knee Prostheses

Molei Wu, Xiangrong Shen
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T07A006, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9895
https://doi.org/10.1115/DSCC2016-9895
View Paper titled, Walking-Stair Climbing Control for Powered Knee Prostheses
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Topics: Knee joint prostheses, Stairs, Prostheses, Artificial limbs, Biomechanics, Knee, Locomotives, Testing
Proceedings Papers

A Robotic Knee Orthosis for Sit-to-Stand Assistance

Saroj Thapa, Hao Zheng, Geza F. Kogler, Xiangrong Shen
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T07A004, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9891
https://doi.org/10.1115/DSCC2016-9891
View Paper titled, A Robotic Knee Orthosis for Sit-to-Stand Assistance
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Topics: Knee, Orthotics, Robotics, Torque, Design, Biomechanics, Control equipment, Engines, Manufacturing, Motors
Journal Articles

Variable Series Elasticity Control of a Pneumatically Actuated Transtibial Prosthesis

Hao Zheng, Molei Wu, Xiangrong Shen
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2016, 10(3): 030949.
Paper No: MED-16-1092
https://doi.org/10.1115/1.4033768
Published Online: August 1, 2016
View Article titled, Variable Series Elasticity Control of a Pneumatically Actuated Transtibial Prosthesis
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Topics: Elasticity, Prostheses
Journal Articles

Pneumatic Variable Series Elastic Actuator

Hao Zheng, Molei Wu, Xiangrong Shen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2016, 138(8): 081011.
Paper No: DS-15-1283
https://doi.org/10.1115/1.4033620
Published Online: June 15, 2016
View Article titled, Pneumatic Variable Series Elastic Actuator
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Topics: Actuators, Equilibrium (Physics), Pneumatic actuators, Stiffness, Pistons, Valves, Pressure, Robotics, Springs
Proceedings Papers

Modeling and Control of the Series Elasticity in Pneumatic Actuators

Hao Zheng, Xiangrong Shen
Proc. ASME. IMECE2015, Volume 4B: Dynamics, Vibration, and Control, V04BT04A024, November 13–19, 2015
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2015-51054
https://doi.org/10.1115/IMECE2015-51054
View Paper titled, Modeling and Control of the Series Elasticity in Pneumatic Actuators
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Topics: Control modeling, Elasticity, Pneumatic actuators, Stiffness, Actuators, Equilibrium (Physics), Robotics, Valves, Compressibility, Dynamics (Mechanics)
Proceedings Papers

Double-Acting Sleeve Muscle: Concept and Example Application in Powered Prostheses

Molei Wu, Hao Zheng, Xiangrong Shen
Proc. ASME. IMECE2015, Volume 4A: Dynamics, Vibration, and Control, V04AT04A014, November 13–19, 2015
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2015-51052
https://doi.org/10.1115/IMECE2015-51052
View Paper titled, Double-Acting Sleeve Muscle: Concept and Example Application in Powered Prostheses
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Topics: Muscle, Prostheses, Actuators, Knee, Design, Energy consumption, Lightweight structures, Pneumatic actuators, Robotics, Stairs
Proceedings Papers

A Quadruped Robot Powered With Pneumatic Actuators

Isaac Heim, Hao Zheng, Xiangrong Shen
Proc. ASME. IMECE2015, Volume 4A: Dynamics, Vibration, and Control, V04AT04A003, November 13–19, 2015
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2015-51004
https://doi.org/10.1115/IMECE2015-51004
View Paper titled, A Quadruped Robot Powered With Pneumatic Actuators
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Topics: Pneumatic actuators, Robots, Design, Knee, Robotics, Testing, Torque
Journal Articles

A Pneumatically Actuated Transtibial Prosthesis

Hao Zheng, Xiangrong Shen
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2015, 9(3): 030919.
Paper No: MED-15-1075
https://doi.org/10.1115/1.4030597
Published Online: September 1, 2015
View Article titled, A Pneumatically Actuated Transtibial Prosthesis
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Topics: Prostheses, Torque, Actuators, Design
Journal Articles

A Pneumatically Actuated Knee Prosthesis

Molei Wu, Hao Zheng, Xiangrong Shen
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2015, 9(3): 030911.
Paper No: MED-15-1067
https://doi.org/10.1115/1.4030607
Published Online: September 1, 2015
View Article titled, A Pneumatically Actuated Knee Prosthesis
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Topics: Knee, Knee joint prostheses, Prostheses, Torque, Actuators, Design, Locomotives
Proceedings Papers

Concept, Design, and Application of Sleeve Muscle Actuator

Hao Zheng, Xiangrong Shen
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A012, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34720
https://doi.org/10.1115/DETC2014-34720
View Paper titled, Concept, Design, and Application of Sleeve Muscle Actuator
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Topics: Actuators, Design, Muscle, Bearings, Pressure, Robotics, Stress
Proceedings Papers

An Education-Oriented Robotic Anthropomorphic Hand System

Molei Wu, Alexander Kandra, Xiangrong Shen
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T02A002, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-5962
https://doi.org/10.1115/DSCC2014-5962
View Paper titled, An Education-Oriented Robotic Anthropomorphic Hand System
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Topics: Education, Robotics, End effectors, Actuators, Degrees of freedom, Engineering education, Mechanical admittance, Muscle, Tendons
Journal Articles

Design and Preliminary Testing of a Pneumatic Muscle-Actuated Transfemoral Prosthesis

Molei Wu, Tad Driver, Sai-Kit Wu, Xiangrong Shen
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. December 2014, 8(4): 044502.
Paper No: MED-13-1184
https://doi.org/10.1115/1.4026830
Published Online: August 19, 2014
View Article titled, Design and Preliminary Testing of a Pneumatic Muscle-Actuated Transfemoral Prosthesis
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Topics: Design, Knee, Prostheses, Muscle, Torque, Springs