Jeffrey A. Ward

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The structural design, control system, and integrated biofeedback for a wearable exoskeletal robot for upper extremity stroke rehabilitation are presented. Assisted with clinical evaluation, designers, engineers, and scientists have built a device for robotic assisted upper extremity repetitive therapy (RUPERT). Intense, repetitive physical rehabilitation(More)
With over 600 thousand people each year surviving a stroke, it has become the leading cause of serious long-term disability in the United States [1], [2]. The adverse financial and social conditions attributed to stroke have prompted researchers and entrepreneurs to explore the viability of rehabilitation robots. The Powered Ankle Foot Orthosis (PAFO)(More)
BACKGROUND AND PURPOSE Stroke is the leading cause of long term disability in the United States, and for many it causes loss of gait function. The purpose of this research is to examine stroke survivors' gait adaptations to training on the Powered Ankle Foot Orthosis (PAFO). Of particular interest is the stroke survivors' ability to learn how to store and(More)
Chessboard separation problems are modifications to classic chessboard problems, such as the N Queens Problem, in which obstacles are placed on the chessboard. This paper focuses on a variation known as the N + k Queens Problem, in which k Pawns and N + k mutually non-attacking Queens are to be placed on an N -by-N chessboard. Results are presented from(More)
BACKGROUND Current prosthetic ankle joints are designed either for walking or for running. In order to mimic the capabilities of an able-bodied, a powered prosthetic ankle for walking and running was designed. A powered system has the potential to reduce the limitations in range of motion and positive work output of passive walking and running feet. (More)
Passive prosthetic feet are not able to provide non-amputee kinematics and kinetics for the ankle joint. Persons with amputations show reduced interlimb symmetry, slower walking speeds, and increased walking effort. To improve ankle range of motion and push off, various powered prosthetic feet were introduced. This feasibility study analyzed if predefined(More)
A robotic tendon is modeled and the stiffness of the spring is tuned so that the spring power reduces the peak motor power and energy required for ankle gait. When determining stiffness from gait literature, it is usually assumed that one side of the spring is fixed. We assume that the spring is translating to derive a second method to calculate stiffness.(More)
Examples of the 1,4-migration of a palladium moiety in aryl- and alkylpalladium intermediates to the acyl position of an aldehyde or formamide have been observed. The resulting acylpalladium intermediate can undergo ester or carbamate formation by reaction with an alcohol; decarbonylation, followed by beta hydride elimination to an alkene; reaction with an(More)
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