Karl Zelik

2 accepted papers

2023

A method for selecting stumble recovery response in a knee exoskeleton

Maura Eveld, Shane King, Karl Zelik, Michael Goldfarb

ICRA 2023poster

Powered lower-limb exoskeletons have been shown to assist and augment walking, but most such devices do not currently have the ability to explicitly accommodate a stumble perturbation. A major challenge in doing so is identifying a stumble event and selecting in real-time which recovery strategy (el…

Cited by 1 Source ↗Scholar ↗

2021

Design and implementation of a stumble recovery controller for a knee exoskeleton

Maura Eveld, Shane King, Karl Zelik, Michael Goldfarb

IROS 2021poster

This paper presents a stumble recovery controller for a knee exoskeleton that detects a stumble perturbation; selects an anticipated recovery strategy; and provides appropriate recovery assistance. In order to assess the efficacy of the controller in providing an assistive response to a stumble pert…

Cited by 3 Source ↗Scholar ↗