James P. Schmiedeler

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—Balance retraining is a critical part of rehabilitation for many individuals following neuro-trauma such as stroke. The WeHab system described in this paper is a low-cost rehabilitation instrument suite centered around the Nintendo Wii Balance Board that has the potential to enhance rehabilitation for patients with balance disorders. Using the WeHab(More)
This paper develops a control strategy to produce vertical jumps in a planar biped robot as a preliminary investigation into dynamic maneuvers. The control strategy was broken into two functional levels to separately solve the problems of coordination and execution of the jump maneuver. A high-level fuzzy controller addresses the complexities that arise(More)
Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a single, articulated-leg that was designed to be used on a high-speed galloping quadruped. Intelligent methods are compared to other control methods in simulation and on the OSU DASH(More)
— This paper presents a new definition of stable walking—that is not necessarily periodic—for a class of biped robots. The inspiration for the definition is the commonly-held notion of stable walking: the biped does not fall. To make the definition useful, an algorithm is given to verify if a given controller induces stable walking. Also given is a(More)
Previous studies have noted that biological quadrupeds adjust their gaits when encountering drag in their locomotion. This paper investigates the hypothesis that these gait adjustments allow the legs to operate at an optimal working length when generating thrust. A 5-DoF dynamic model of a quadruped having a rigid trunk and massless legs is formulated. This(More)
The leading joint hypothesis (LJH), developed for planar arm reaching, proposes that the interaction torques experienced by the proximal joint are low compared to the corresponding muscle torques. The human central nervous system could potentially ignore these interaction torques at the proximal (leading) joint with little effect on the wrist trajectory,(More)
This paper examines up to third-order geometric properties of wrist path and the first-order property of wrist trajectory (wrist speed) for spatial pointing movements. Previous studies report conflicting data regarding the time invariance of wrist-path shape, and most analyses are limited to the second-order geometric property (straightness, or strictly(More)
—The effect of asymmetrical body-mass distribution on the stability and dynamics of two-degree-of-freedom quadruped bounding in place is investigated in this study. An analytical stability criterion for bounding of quadrupeds with asymmetrical mass distribution is developed. Bounding is found to be passively stable in the Hamiltonian sense when the(More)