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Christopher Siviy

4 accepted papers

2024

Design & Systematic Evaluation of Power Transmission Efficiency of an Ankle Exoskeleton for Walking Post-Stroke

Myles Cooper, Santiago Canete, Asa Eckert-Erdheim, Aidan Kimberley, Christopher Siviy, Teresa Baker +3
ICRA 2024poster

Community-based locomotor training post-stroke has shown improvements in independent ambulation by increasing dose, intensity, and specificity of walking practice. Robotic ankle exoskeletons hold the potential to facilitate continued rehabilitation at home, but understanding what aspects of the desi…

Cited by 0Source ↗Scholar ↗
2020

Offline Assistance Optimization of a Soft Exosuit for Augmenting Ankle Power of Stroke Survivors During Walking

Christopher Siviy, Jaehyun Bae, Lauren Baker, Franchino Porciuncula, Teresa Baker, Terry Ellis +2
RA-L 2020

Locomotor impairments afflict more than 80% of people poststroke. Our group has previously developed a unilateral ankle exosuit aimed at assisting the paretic ankle joint of stroke survivors during walking. While studies to date have shown promising biomechanical and physiological changes, there rem

Cited by 70Source ↗Scholar ↗
2018

A Lightweight and Efficient Portable Soft Exosuit for Paretic Ankle Assistance in Walking After Stroke

Jaehyun Bae, Christopher Siviy, Michael Rouleau, Nicolas Menard, Kathleen O'Donnell, Ignacio Geliana +8
ICRA 2018poster

Hemiparetic gait after stroke is typically asymmetric and energetically inefficient. A major contributor to walking deficits is impaired paretic ankle function. Impaired paretic ankle plantarflexion (PF) reduces forward propulsion symmetry and impaired paretic ankle dorsiflexion (DF) diminishes grou…

Cited by 161Source ↗Scholar ↗
2016

IMU-based iterative control for hip extension assistance with a soft exosuit

Ye Ding, Ignacio Galiana, Christopher Siviy, Fausto A. Panizzolo, Conor J. Walsh
ICRA 2016

In this paper we describe an IMU-based iterative controller for hip extension assistance where the onset timing of assistance is based on an estimate of the maximum hip flexion angle. The controller was implemented on a mono-articular soft exosuit coupled to a lab-based multi-joint actuation platfor

Cited by 101Source ↗Scholar ↗