Publications

Direct User Control of Knee Exoskeletons (In progress thesis)

Published in Texas A&M University Theses Repository + IEEE-RAL in works!, 2025

This project aims to advance the field of assistive lower limb exoskeletons by developing a knee exoskeleton capable of direct user control. The proposed system introduces a novel control strategy that allows the user to manually operate the exoskeleton’s actuators via a human input device (HID), enabling real-time customization of torque profiles tailored to specific movements. This approach diverges from traditional methods, which optimize exoskeleton control based on metabolic cost or pre-programmed motion profiles, and instead prioritizes user comfort, adaptability, and responsiveness.

Recommended citation: Z. Bucknor-Smartt, J. Mustafa, W. Bannick, L. Graves, M. Korwani, G. C. Thomas, “Direct User Control of Lower Limb Assistive Exoskeletons”, IEEE Robotics and Automation Letters, June 2025 (In progress) [Journal paper + undergraduate thesis]

Amplifying Human Strength Through a Virtual Sprung Inertia (Under Review)

Published in International Conference on Rehabilitation Robotics, 2025

While better known for their ability to work autonomously in structured tasks, robots have the potential to aid human workers in unstructured tasks via force control. More specifically, cobots and exoskeletons that physically interact with human operators can amplify human strength by feeding back measurements of their interaction forces, agnostic to the task the operator is performing. However, due to limited control bandwidth and coupled human–robot dynamics, naive force-feedback can easily result in instability similar to pilot-induced oscillation in planes.

Recommended citation: A. Petrakian, Z. Bucknor-Smartt, C. Scott, G. C Thomas, “Amplifying Human Strength Through a Virtual Sprung Inertia”, IEEE International Conference on Rehabilitation Robotics, May 12th, 2025 (Under Review) [Conference Paper]

Formulating Controllers for Human Strength Amplification

Published in Texas Regional Robotics Symposium, 2024

Recommended citation: A. Petrakian, Z. Bucknor-Smartt, G. C Thomas, “Formulating Controllers for Human Strength Amplification”, Texas Regional Robotics Symposium, April 30th 2024

TURTLE’s Low Cost, Open-Source Quadruped

Published in Texas Regional Robotics Symposium, 2024

Recommended citation: I. Lansdowne, Z. Bucknor-Smartt, J. Foltyn, J. Kong, M. Guttman, et. al “TURTLE’s Low Cost, Open-Source Quadruped”, Texas Regional Robotics Symposium, April 30th 2024