About
Robert D. Gregg IV received the B.S. degree in electrical engineering and computer…
Activity
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This is a new video we made as part of the new Open-Source Leg website (www.opensourceleg.org). Thanks to Senthur Ayyappan for creating it!
This is a new video we made as part of the new Open-Source Leg website (www.opensourceleg.org). Thanks to Senthur Ayyappan for creating it!
Liked by Robert Gregg
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Super proud of undergraduate students Eleanor “Teddy” Stevens, Duncan Stewart-Jackson, and Elise Nielsen for winning 🎊 😍 the #DEBUT challenge…
Super proud of undergraduate students Eleanor “Teddy” Stevens, Duncan Stewart-Jackson, and Elise Nielsen for winning 🎊 😍 the #DEBUT challenge…
Liked by Robert Gregg
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Outstandingly stimulating day getting to hear NVIDIA vision for robotics and automation & showcasing the R&D efforts of the ARMLab students (Chinmay…
Outstandingly stimulating day getting to hear NVIDIA vision for robotics and automation & showcasing the R&D efforts of the ARMLab students (Chinmay…
Liked by Robert Gregg
Experience
Education
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University of Illinois Urbana-Champaign
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Activities and Societies: Academic Senate Executive Committee, Illinois Student Senate
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Activities and Societies: Illinois Student Senate, ECE Graduate Student Association
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Activities and Societies: Associated Students of the University of California
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Publications
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The Difference Between Stiffness and Quasi-Stiffness in the Context of Biomechanical Modeling
IEEE Transactions on Biomedical Engineering
The ankle contributes the majority of mechanical power during walking and is a frequently studied joint in biomechanics. Specifically, researchers have extensively investigated the torque-angle relationship for the ankle during dynamic tasks, such as walking and running. The slope of this relationship has been termed the “quasi-stiffness.” However, over time, researchers have begun to interchange the concepts of quasi-stiffness and stiffness. This is an especially important distinction as…
The ankle contributes the majority of mechanical power during walking and is a frequently studied joint in biomechanics. Specifically, researchers have extensively investigated the torque-angle relationship for the ankle during dynamic tasks, such as walking and running. The slope of this relationship has been termed the “quasi-stiffness.” However, over time, researchers have begun to interchange the concepts of quasi-stiffness and stiffness. This is an especially important distinction as researchers currently begin to investigate the appropriate control systems for recently developed powered prosthetic legs. The quasi-stiffness and stiffness are distinct concepts in the context of powered joints, and are equivalent in the context of passive joints. The purpose of this paper is to demonstrate the difference between the stiffness and quasi-stiffness using a simple impedance-controlled inverted pendulum model and a more sophisticated biped walking model, each with the ability to modify the trajectory of an impedance controller's equilibrium angle position. In both cases, stiffness values are specified by the controller and the quasi-stiffness are shown during a single step. Both models have widely varying quasi-stiffness but each have a single stiffness value. Therefore, from this simple modeling approach, the differences and similarities between these two concepts are elucidated.
Other authorsSee publication -
Control and Planning of 3D Dynamic Walking with Asymptotically Stable Gait Primitives
IEEE Transiactions on Robotics
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Symposium on Emerging Topics in Control and Modeling: Biomedical Systems
IEEE Control Systems
Honors & Awards
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NIH R01: Controlling Locomotion over Continuously Varying Activities for Agile Powered Prosthetic Legs
National Institute of Child and Human Development
1R01HD094772, R. Gregg (PI)
National Institutes of Health: Eunice Kennedy Shriver National Institute of Child Health & Human Development
09/01/2018 - 05/31/2023, $2,227,090 total costs
Description: The major goal of this project is to model and control human locomotion over continuously varying tasks for the design of agile, powered prostheses that require little to no tuning. -
NSF CAREER Award
National Science Foundation
$500,000 over 5 years:
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1652514&HistoricalAwards=false -
IEEE Senior Member
Institute of Electrical & Electronics Engineers
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NIH Director's New Innovator Award
National Institutes of Health
This is a $2.3 million grant for research in high-performance lower-limb prosthetics and orthotics. The proposed research is relevant to public health because the clinical application of high-performance lower-limb prostheses and orthoses can significantly improve the quality of life for nearly a million American amputees and even more stroke survivors, whose disabilities often severely limit mobility and social activity. Despite dramatic advances in robot locomotion over the past decade…
This is a $2.3 million grant for research in high-performance lower-limb prosthetics and orthotics. The proposed research is relevant to public health because the clinical application of high-performance lower-limb prostheses and orthoses can significantly improve the quality of life for nearly a million American amputees and even more stroke survivors, whose disabilities often severely limit mobility and social activity. Despite dramatic advances in robot locomotion over the past decade, critical barriers still limit the clinical viability of motorized prostheses and orthoses that assist human locomotion. By translating recent theoretical concepts from robotics into highly innovative technologies for restoring mobility in multiple populations, this research is relevant to the NIH Common Fund’s mission of addressing key roadblocks in biomedical research and capitalizing on emerging opportunities to catalyze the rate of progress across multiple fields.
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Career Award at the Scientific Interface
Burroughs Wellcome Fund
$500,000 career transition grant for my research in lower-limb prosthetic control systems:
http://www.bwfund.org/pages/642/ -
Engineering into Medicine Postdoctoral Fellowship
Northwestern University
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O. Hugo Schuck Award
IFAC American Automatic Control Council
Best Theory Paper from the 2008 American Control Conference.
More activity by Robert
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Thrilled to share the findings of our adaptive DBS study for Parkinson’s disease, now out in Nature Medicine (link below). Compared to…
Thrilled to share the findings of our adaptive DBS study for Parkinson’s disease, now out in Nature Medicine (link below). Compared to…
Liked by Robert Gregg
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IEEE #BioRob2024 is coming up! Check out our workshop (room HS14) titled: "Accelerating #WearableRobotics: Advancements in Mechatronic #Prostheses…
IEEE #BioRob2024 is coming up! Check out our workshop (room HS14) titled: "Accelerating #WearableRobotics: Advancements in Mechatronic #Prostheses…
Liked by Robert Gregg
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First day of school is tomorrow! It's been a while since I could say that. I'm excited to be teaching an evening section of Statics at The…
First day of school is tomorrow! It's been a while since I could say that. I'm excited to be teaching an evening section of Statics at The…
Liked by Robert Gregg
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It’s incredible to think that after a year of anticipation and planning, the 2024 American Society of Biomechanics Annual Meeting has come and gone…
It’s incredible to think that after a year of anticipation and planning, the 2024 American Society of Biomechanics Annual Meeting has come and gone…
Liked by Robert Gregg
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IEEE Transactions on Neural Systems and Rehabilitation Engineering (TNSRE) at the IEEE Engineering Medicine and Biology Society is teaming up with…
IEEE Transactions on Neural Systems and Rehabilitation Engineering (TNSRE) at the IEEE Engineering Medicine and Biology Society is teaming up with…
Liked by Robert Gregg
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I am honored and grateful to be promoted to Distinguished Professor at UNC-Chapel Hill! A big thank you to my students and colleagues who helped me…
I am honored and grateful to be promoted to Distinguished Professor at UNC-Chapel Hill! A big thank you to my students and colleagues who helped me…
Liked by Robert Gregg
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Amazing to see #Skip getting exoskeletons into the real world with Arc'teryx Equipment! Congrats to Kathryn, Patrick, Andy, and the rest of the team!…
Amazing to see #Skip getting exoskeletons into the real world with Arc'teryx Equipment! Congrats to Kathryn, Patrick, Andy, and the rest of the team!…
Liked by Robert Gregg
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Congratulations to Hafiz Malik and Alireza Mohammadi for receiving a $1M grant from the National Science Foundation for their project titled…
Congratulations to Hafiz Malik and Alireza Mohammadi for receiving a $1M grant from the National Science Foundation for their project titled…
Liked by Robert Gregg
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Filming with students and faculty colleagues for our qualification in the XPrize Wildfire Autonomous Challenge is both inspiring and enjoyable. Thank…
Filming with students and faculty colleagues for our qualification in the XPrize Wildfire Autonomous Challenge is both inspiring and enjoyable. Thank…
Liked by Robert Gregg
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