Sebastian E. Sovero

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We present experimental data for an ankle exoskeleton that provides a metabolic benefit during running. Intuitively, there is an optimal level of power that any particular human can accept and use to benefit walking or running, which is a function of the particular human, the selected gait, and speed. We provide and discuss modeling optimization results to(More)
All rights reserved INFORMATION TO ALL USERS The quality of this reproduction is dependent upon the quality of the copy submitted. In the unlikely event that the author did not send a complete manuscript and there are missing pages, these will be noted. Also, if material had to be removed, a note will indicate the deletion. iv Dedicated to my beloved family(More)
We present experimental data for an ankle exoskeleton device that provides a metabolic benefit during running. Intuitively, there is an optimal level of power than any particular human can accept and use to benefit walking or running, which is a function of both the particular human and selected gait speed. In this paper, we will present theoretical(More)
Accurate Step Length Control Strategies for Underactuated and Realistic Series Elastic Actuated Hoppers via High Order PFL by Pat Terry Among the different types of legged robots, hopping robots, aka hoppers, can be classified as one of the simplest sufficient models that capture the important features encompassed in dynamic locomotion: underactuation,(More)
This paper explores the use of a single passive design to stabilize frontal plane dynamics for 3D biped walking across a range of forward velocities and/or step lengths. Particular goals are to determine if design of sagittal plane control can be done independently from design of frontal plane stabilization mechanisms, and to explore how dynamic coupling(More)
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