Robert Gregg

Robert Gregg

Ann Arbor, Michigan, United States
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About

Robert D. Gregg IV received the B.S. degree in electrical engineering and computer…

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Experience

  • University of Michigan Graphic

    University of Michigan

    Ann Arbor, Michigan

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    Ann Arbor, Michigan, United States

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    Dallas/Fort Worth Area

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    Dallas/Fort Worth Area

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    Greater Chicago Area

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Education

  • University of Illinois Urbana-Champaign Graphic

    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

Publications

  • 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.

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  • 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

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  • A haptic feedback system for phase-based sensory restoration in above-knee prosthetic leg users

    IEEE Transactions on Haptics

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Honors & Awards

  • 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

  • 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.

  • 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

  • O. Hugo Schuck Award

    IFAC American Automatic Control Council

    Best Theory Paper from the 2008 American Control Conference.

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