Krysten Lambeth
College of Engineering
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Works (6)
Updated: April 6th, 2024 05:03
2024 journal article
Dynamic Active Subspaces for Model Predictive Allocation in Over-Actuated Systems
IEEE CONTROL SYSTEMS LETTERS, 8, 145–150.
author keywords: Actuators; Task analysis; Torque; Resource management; Matrix decomposition; System dynamics; Optimal control; Hybrid neuroprosthesis; model predictive control; Koopman operator; control allocation
TL;DR:
To improve computational efficiency of the MPCA, Koopman operator-based linear prediction dynamics of an over-actuated nonlinear robotic system is developed and demonstrated on a hybrid neuroprosthesis model for a trajectory tracking task.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 28, 2024
2023 article
Evaluation of a Fused Sonomyography and Electromyography-Based Control on a Cable-Driven Ankle Exoskeleton
Zhang, Q., Lambeth, K., Sun, Z., Dodson, A., Bao, X., & Sharma, N. (2023, February 9). IEEE TRANSACTIONS ON ROBOTICS, Vol. 2.
author keywords: Muscles; Torque; Robots; Imaging; Legged locomotion; Neuromuscular; Force; Ankle exoskeleton; assist-as-needed (AAN) control; neuromuscular model; sonomyography; surface electromyography (sEMG); ultrasound (US) imaging
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: February 10, 2023
2023 article
Robust Control Barrier Functions for Safety Using a Hybrid Neuroprosthesis
2023 AMERICAN CONTROL CONFERENCE, ACC, pp. 54–59.
TL;DR:
Simulations show the superior performance of the proposed robust MPC-ZCBF scheme for achieving foot clearance compared to traditional ZCBFs and Euclidean safety constraints.
(via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries
Added: March 11, 2024
2022 journal article
Ultrasound Echogenicity as an Indicator of Muscle Fatigue during Functional Electrical Stimulation
SENSORS, 22(1).
author keywords: muscle fatigue; electrical stimulation; ankle joint; biomechanical phenomena; ultrasonography; linear models; nonlinear dynamics
MeSH headings : Electric Stimulation; Humans; Isometric Contraction; Muscle Contraction; Muscle Fatigue; Muscle, Skeletal; Ultrasonography
TL;DR:
The findings in this study indicate that the US echogenicity signal is a computationally efficient signal that strongly represents FES-induced muscle fatigue and its potential real-time implementation to detect fatigue can facilitate an FES closed-loop controller design that considers the Fes- induced muscle fatigue.
(via Semantic Scholar)
www.mdpi.com (publisher PDF)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 8, 2022
2022 article
Ultrasound Imaging-Based Closed-Loop Control of Functional Electrical Stimulation for Drop Foot Correction
Zhang, Q., Lambeth, K., Iyer, A., Sun, Z., & Sharma, N. (2022, September 30). IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, Vol. 9.
author keywords: Ankle dorsiflexion; drop foot; functional electrical stimulation (FES); nonlinear control; sampled-data observer (SDO); ultrasound (US) imaging
TL;DR:
The use of ultrasound (US) echogenicity as an indicator of FES-evoked muscle activation is explored and a methodology to integrate US in an FES control framework is provided, which will likely benefit persons with drop foot and those with other mobility disorders.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 1, 2022
2021 conference paper
Ultrasound Echogenicity-based Assessment of Muscle Fatigue During Functional Electrical Stimulation
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 5948–5952.
Event: 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society at Mexico on November 1-5, 2021
MeSH headings : Electric Stimulation; Electromyography; Humans; Isometric Contraction; Muscle Fatigue; Ultrasonography
TL;DR:
The findings indicate that US echogenicity may be a promising computationally efficient indicator for assessing FES-induced muscle fatigue and may aid in the design of muscle-in-the-loop FES controllers that consider the onset of muscle fatigue.
(via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: April 25, 2022
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