Towards a series elastic actuator with electrically modulated stiffness for Powered Ankle-Foot Orthoses. - Edgar Bolívar; David Allen; Gregory Ellson; Jorge Cossio; Walter Voit; Robert D. Gregg (CASE, 2016)

Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: a Convex Optimization Framework for Elastic Element Design. - Edgar Bolívar; Siavash Rezazadeh; Robert D. Gregg (CoRR, 2018)

Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle. - Edgar Bolívar; Siavash Rezazadeh; Tyler H. Summers; Robert D. Gregg (ICORR, 2019)

Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton. - Saurav Kumar; Matthew Richard Zwall; Edgar A. Bolívar-Nieto; Robert D. Gregg; Nicholas R. Gans (IEEE Robotics Autom. Lett., 2020)

Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis. - Daphna Raz; Edgar A. Bolívar-Nieto; Necmiye Ozay; Robert D. Gregg (CCTA, 2021)

Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice. - Edgar A. Bolívar-Nieto; Gray C. Thomas; Elliott J. Rouse; Robert D. Gregg (IROS, 2021)

Lower-limb kinematics and kinetics during continuously varying human locomotion. - Emma Reznick; Kyle R. Embry; Ross M. Neuman; Edgar A. Bolívar-Nieto; Nicholas P. Fey; Robert D. Gregg (CoRR, 2021)

Convex Optimization for Spring Design of Parallel Elastic Actuators. - Sicong Guo; Robert D. Gregg; Edgar A. Bolívar-Nieto (ACC, 2022)

Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis. - Ross J. Cortino; Edgar A. Bolívar-Nieto; T. Kevin Best; Robert D. Gregg (ICRA, 2022)

Prediction of Whole-Body Center of Mass Using Joint Angles and Ground Reaction Forces: A Framework for Human Intent Prediction. - Mohsen Alizadeh Noghani; Edgar A. Bolívar-Nieto (BioRob, 2024)

Extending the Benefits of Parallel Elasticity across Multiple Actuation Tasks: A Geometric and Optimization-Based Approach. - Kang Yang; Myia Dickens; James P. Schmiedeler; Edgar A. Bolívar-Nieto (CoRR, 2024)

Predicting center of mass position in non-cyclic activities: The influence of acceleration, prediction horizon, and ground reaction forces. - Mohsen Alizadeh Noghani; Edgar A. Bolívar-Nieto (CoRR, 2024)