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Lukas Gabert

5 accepted papers

2025

The Only Way Is Up: Active Knee Exoskeleton Reduces Muscular Effort in Quadriceps During Weighted Stair Ascent

Vincent S. Boon, Brendon Ortolano, Andrew J. Gunnell, Margaret Meagher, Rosemarie C. Murray, Lukas Gabert +1
RA-L 2025

Firefighters consistently rank stair ascent with gear, which can weigh over 35 kg, as their most demanding activity. Weighted stair climbing requires dynamic motions and large knee torques, which can cause exhaustion in the short term, and overuse injuries in the long term. An active knee exoskeleto

Cited by 4Source ↗Scholar ↗
2023

A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis

Marissa Cowan, Suzi Creveling, Liam M. Sullivan, Lukas Gabert, Tommaso Lenzi
IROS 2023poster

Powered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most pow…

Cited by 10Source ↗Scholar ↗
2023

Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains

Liam M. Sullivan, Suzi Creveling, Marissa Cowan, Lukas Gabert, Tommaso Lenzi
IROS 2023poster

Ambulation in everyday life requires walking at variable speeds, variable inclines, and variable terrains. Powered prostheses aim to provide this adaptability through control of the actuated joints. Some powered prosthesis controllers can adapt to discrete changes in speed and incline but require ma…

Cited by 7Source ↗Scholar ↗
2023

Volitional EMG Control Enables Stair Climbing with a Robotic Powered Knee Prosthesis

Suzi Creveling, Marissa Cowan, Liam M. Sullivan, Lukas Gabert, Tommaso Lenzi
IROS 2023poster

Existing controllers for robotic powered prostheses regulate the prosthesis speed, timing, and energy generation using predefined position or torque trajectories. This approach enables climbing stairs step-over-step. However, it does not provide amputees with direct volitional control of the robotic…

Cited by 7Source ↗Scholar ↗
2019

A Lightweight, Efficient Fully Powered Knee Prosthesis With Actively Variable Transmission

Minh Tran, Lukas Gabert, Marco Cempini, Tommaso Lenzi
RA-L 2019

Amputation at the above-knee level severely impairs the ability of an individual to ambulate. As ambulation requires power generation and active control of movements, the passive nature of most available leg prostheses is a major cause of the observed deficits. Powered prostheses aim to address this

Cited by 77Source ↗Scholar ↗