Greg Orekhov

2 accepted papers

2022

Design and Electromechanical Performance Evaluation of a Powered Parallel-Elastic Ankle Exoskeleton

RA-L 2022

The widespread adoption of powered lower-limb exoskeletons for augmenting mobility requires energy-efficient actuation to provide meaningful assistance over relevant walking durations. We designed, modeled, and validated an ankle exoskeleton design with a parallel elastic element in the form of a ca

Cited by 19 Source ↗Scholar ↗

2020

Closing the Loop on Exoskeleton Motor Controllers: Benefits of Regression-Based Open-Loop Control

Greg Orekhov, Jason Luque, Zachary F. Lerner

RA-L 2020

Lower-limb exoskeletons are widely researched to improve walking performance and mobility. Low-level sensor-less exoskeleton motor control is attractive for consumer applications due to reduced device complexity and cost, but complex and variable transmission system configurations make the developme

Cited by 8 Source ↗Scholar ↗