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ORCIDGray C. Thomas
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2020 – today
- 2024
[j11]Ting-Wei Hsu
, Robert D. Gregg, Gray C. Thomas:
Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots. IEEE Robotics Autom. Lett. 9(3): 2104-2111 (2024)- [j10]Isaac Richard Harris, Elliott J. Rouse, Robert D. Gregg, Gray Cortright Thomas:
A Control Framework for Accurate Mechanical Impedance Rendering With Series-Elastic Joints in Prosthetic Actuation Applications. IEEE Robotics Autom. Lett. 9(8): 6983-6990 (2024) - [j9]Nikhil V. Divekar, Gray C. Thomas, Avani R. Yerva, Hannah B. Frame, Robert D. Gregg:
A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks. Sci. Robotics 9(94) (2024) - [j8]Jianping Lin, Gray C. Thomas, Nikhil V. Divekar, Vamsi Peddinti, Robert D. Gregg:
A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons. IEEE Trans. Control. Syst. Technol. 32(6): 2359-2375 (2024) - 2023
- [j7]Roberto Leo Medrano, Gray Cortright Thomas, Connor G. Keais, Elliott J. Rouse, Robert D. Gregg:
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain. IEEE Trans. Robotics 39(3): 2170-2182 (2023) - [c23]Zachary Bons, Gray C. Thomas, Luke M. Mooney, Elliott J. Rouse:
A Compact, Two-Part Torsion Spring Architecture. ICRA 2023: 7461-7467 - [c22]Nundini D. Rawal, Roberto L. Medrano, Gray C. Thomas, Elliott J. Rouse:
A Sensitivity Analysis of an Economic Value Metric for Quantifying the Success of Lower-Limb Exoskeletons and Their Assistance. IROS 2023: 4168-4175 - [c21]José A. Montes-Pérez, Gray Cortright Thomas, Robert D. Gregg:
Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters. IROS 2023: 6068-6074 - [c20]Katharine Walters, Gray C. Thomas, Jianping Lin, Robert D. Gregg:
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. IROS 2023: 6082-6089 - 2022
- [j6]Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg:
Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses. IEEE Robotics Autom. Lett. 7(3): 6155-6162 (2022) - [j5]Roberto Leo Medrano, Gray Cortright Thomas, Elliott J. Rouse, Robert D. Gregg:
Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. IEEE Robotics Autom. Lett. 7(3): 7463-7470 (2022) - [c19]Roberto Leo Medrano, Gray Cortright Thomas, Elliott J. Rouse, Robert D. Gregg:
Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. BioRob 2022: 1-8 - [d1]Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg:
Bill of Materials and Component CAD for a Modular Exoskeleton. IEEE DataPort, 2022
- [i12]Roberto Leo Medrano, Gray Cortright Thomas, Connor G. Keais, Elliott J. Rouse, Robert D. Gregg:
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain. CoRR abs/2205.00155 (2022) - 2021
- [j4]Nicolas Brissonneau, Binghan He, Gray C. Thomas, Luis Sentis:
Biologically-Inspired Impedance Control With Hysteretic Damping. IEEE Control. Syst. Lett. 5(5): 1717-1722 (2021) - [j3]Gray C. Thomas, Orion Campbell, Nick Nichols, Nicolas Brissonneau, Binghan He, Joshua James, Nicholas Paine, Luis Sentis:
Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons. Frontiers Robotics AI 8 (2021) - [c18]Nicolas Brissonneau, Binghan He, Gray C. Thomas, Luis Sentis:
Biologically-Inspired Impedance Control With Hysteretic Damping. ACC 2021: 678-683 - [c17]Gray Cortright Thomas, Robert D. Gregg:
An Energy Shaping Exoskeleton Controller for Human Strength Amplification. CDC 2021: 1419-1425 - [c16]Edgar A. Bolívar-Nieto, Gray C. Thomas, Elliott J. Rouse, Robert D. Gregg:
Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice. IROS 2021: 9327-9332 - [i11]Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg:
Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses. CoRR abs/2110.01562 (2021) - 2020
- [c15]Binghan He, Gray C. Thomas, Luis Sentis:
Robust Estimator-Based Safety Verification: A Vector Norm Approach. ACC 2020: 3419-3424 - [c14]Huang Huang, Henry F. Cappel, Gray C. Thomas, Binghan He, Luis Sentis:
Adaptive Compliance Shaping with Human Impedance Estimation. ACC 2020: 5131-5138 - [c13]Roberto L. Medrano, Gray C. Thomas, Elliott J. Rouse:
Methods for Measuring the Just Noticeable Difference for Variable Stimuli: Implications for Perception of Metabolic Rate with Exoskeleton Assistance. BioRob 2020: 483-490 - [i10]Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis:
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control. CoRR abs/2009.12446 (2020)
2010 – 2019
- 2019
- [j2]Gray Cortright Thomas, Luis Sentis:
Quadric Inclusion Programs: An LMI Approach to ℋ∞-Model Identification. IEEE Trans. Autom. Control. 64(10): 4229-4236 (2019) - [c12]Gray Cortright Thomas, Jeremiah M. Coholich, Luis Sentis:
Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs. AIM 2019: 1199-1206 - [c11]Binghan He, Gray C. Thomas, Nicholas Paine, Luis Sentis:
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation. ACC 2019: 4580-4587 - [c10]Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis:
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons. IROS 2019: 6748-6755 - [i9]Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis:
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons. CoRR abs/1903.00704 (2019) - [i8]Gray Cortright Thomas, Jeremiah M. Coholich, Luis Sentis:
Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs. CoRR abs/1903.09673 (2019) - [i7]Binghan He, Gray C. Thomas, Luis Sentis:
Robust Estimator-Based Safety Verification: A Vector Norm Approach. CoRR abs/1910.02317 (2019) - [i6]Huang Huang, Henry F. Cappel, Gray C. Thomas, Binghan He, Luis Sentis:
Adaptive Compliance Shaping with Human Impedance Estimation. CoRR abs/1910.12902 (2019) - 2018
- [c9]Gray C. Thomas, Binghan He, Luis Sentis:
Safety Control Synthesis with Input Limits: a Hybrid Approach. ACC 2018: 792-797 - [c8]Rachel Schlossman, Gray C. Thomas, Orion Campbell, Luis Sentis:
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming. ROBIO 2018: 1405-1412 - [i5]Gray C. Thomas, Luis Sentis:
Identifying H[infinity]-Models: An LMI Approach. CoRR abs/1802.07695 (2018) - [i4]Gray C. Thomas, Binghan He, Luis Sentis:
Safety Control Synthesis with Input Limits: a Hybrid Approach. CoRR abs/1802.10188 (2018) - [i3]Rachel Schlossman, Gray C. Thomas, Luis Sentis:
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming. CoRR abs/1802.10190 (2018) - [i2]Binghan He, Gray C. Thomas, Nicholas Paine, Luis Sentis:
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation. CoRR abs/1809.10560 (2018) - 2017
- [c7]Gray C. Thomas, Luis Sentis:
MIMO identification of frequency-domain unreliability in SEAs. ACC 2017: 4436-4441 - [c6]Prashant Rao, Gray C. Thomas, Luis Sentis, Ashish D. Deshpande:
Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints. ICRA 2017: 3447-3452 - 2016
- [j1]Donghyun Kim, Ye Zhao, Gray C. Thomas, Benito R. Fernández, Luis Sentis:
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. IEEE Trans. Robotics 32(6): 1362-1379 (2016) - [c5]Gray C. Thomas, Luis Sentis:
Towards computationally efficient planning of dynamic multi-contact locomotion. IROS 2016: 3879-3886 - 2015
- [c4]Donghyun Kim, Gray C. Thomas, Luis Sentis:
A method for dynamically balancing a point foot robot. Humanoids 2015: 901-907 - [c3]Ye Zhao, Donghyun Kim, Gray C. Thomas, Luis Sentis:
Hybrid multi-contact dynamics for wedge jumping locomotion behaviors. HSCC 2015: 293-294 - [i1]Donghyun Kim, Ye Zhao, Gray C. Thomas, Luis Sentis:
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking. CoRR abs/1501.02855 (2015) - 2014
- [c2]Donghyun Kim, Gray C. Thomas, Luis Sentis:
Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal. ICARCV 2014: 1637-1643 - [c1]Kwan-Suk Kim, Alan S. Kwok, Gray C. Thomas, Luis Sentis:
Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback. IROS 2014: 4757-4763
Coauthor Index
aka: Robert D. Gregg
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