Christopher Nesler — accepted AI-conference papers

2022

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

Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg

RA-L 2022

Mobility disabilities are prominent in society with wide-ranging deficits, motivating modular, partial-assist, lower-limb exoskeletons for this heterogeneous population. This paper introduces the Modular Backdrivable Lower-limb Unloading Exoskeleton (M-BLUE), which implements high torque, low mechan

Cited by 53 Source ↗Scholar ↗

2018

Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators

Toby Elery, Siavash Rezazadeh, Christopher Nesler, Jack Doan, Hanqi Zhu, Robert D. Gregg

ICRA 2018poster

This paper describes the design of a powered knee-and-ankle transfemoral prosthetic leg, which implements high torque density actuators with low-reduction transmissions. The low reduction of the transmission coupled with a high-torque and low-speed motor creates an actuator with low mechanical imped…

Cited by 71 Source ↗Scholar ↗