Krysten Faith Lambeth

Works (10)

Updated: October 28th, 2025 09:29

2025 article

Bio-Inspired Synergistic Model Predictive Control for Control Reallocation and Reduced Computational Cost in a Hybrid Exoskeleton

Lambeth, K., Hakam, N., & Sharma, N. (2025, January 1). IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 33, pp. 3755–3769.

By: K. Lambeth n, N. Hakam n & N. Sharma n 

author keywords: Legged locomotion; Muscles; Exoskeletons; Torque; Ankle; Foot; Fatigue; Real-time systems; Iron; Optimization; Hybrid neuroprostheses; muscle synergies; dimensionality reduction; functional electrical stimulation; powered exoskeleton; gait assistance; model predictive control
MeSH headings : Exoskeleton Device; Humans; Walking / physiology; Computer Simulation; Muscle, Skeletal / physiology; Biomechanical Phenomena; Algorithms; Robotics; Male; Adult; Gait / physiology; Models, Biological; Ankle / physiology
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Orthopaedic implants and arthroplasty
Sources: Web Of Science, ORCID, NC State University Libraries
Added: September 15, 2025

2025 article

Wearable Ultrasound Sensing for Muscle Intent Interpretation in Exoskeleton-Assisted Walking

Xue, X., Lambeth, K., Moon, S., Li, S., Sharma, N., & Jiang, X. (2025, September 15).

By: X. Xue n, K. Lambeth n, S. Moon n, S. Li*, N. Sharma n  & X. Jiang n 

topics (OpenAlex): Stroke Rehabilitation and Recovery; Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics
Sources: NC State University Libraries, NC State University Libraries
Added: October 23, 2025

2024 article

Quantifying Functional Electrical Stimulation-Induced Fatigue via Ultrasound for Hybrid Neuroprosthesis-Based Walking

Lambeth, K., Iyer, A., & Sharma, N. (2024, September 1). 2024 10TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, BIOROB 2024, pp. 1617–1622.

By: K. Lambeth*, A. Iyer* & N. Sharma* 

topics (OpenAlex): Muscle activation and electromyography studies; Conducting polymers and applications; Prosthetics and Rehabilitation Robotics
Sources: Web Of Science, NC State University Libraries
Added: February 24, 2025

2024 article

Real-Time Ultrasound Imaging of a Human Muscle to Optimize Shared Control in a Hybrid Exoskeleton

Iyer, A., Sun, Z., Lambeth, K., Singh, M., Cleveland, C., & Sharma, N. (2024, January 1). IEEE Transactions on Robotics, Vol. 40, pp. 4322–4336.

By: A. Iyer n, Z. Sun*, K. Lambeth n, M. Singh n, C. Cleveland* & N. Sharma n 

author keywords: Muscles; Fatigue; Iron; Exoskeletons; Legged locomotion; Real-time systems; Torque; Biomedical imaging; electrical stimulation; exoskeletons; neurorehabilitation; optimal control
topics (OpenAlex): Stroke Rehabilitation and Recovery; Prosthetics and Rehabilitation Robotics
Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 8, 2024

2023 article

Dynamic Active Subspaces for Model Predictive Allocation in Over-Actuated Systems

Singh, M., Lambeth, K., Iyer, A., & Sharma, N. (2023, December 12). IEEE Control Systems Letters, Vol. 8, pp. 145–150.

By: M. Singh n, K. Lambeth*, A. Iyer* & N. Sharma* 

author keywords: Actuators; Task analysis; Torque; Resource management; Matrix decomposition; System dynamics; Optimal control; Hybrid neuroprosthesis; model predictive control; Koopman operator; control allocation
topics (OpenAlex): Real-time simulation and control systems; Model Reduction and Neural Networks; Hydraulic and Pneumatic Systems
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.

By: Q. Zhang n , K. Lambeth n, Z. Sun, A. Dodson n, X. Bao * & N. Sharma n 

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
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Stroke Rehabilitation and Recovery
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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

Lambeth, K., Singh, M., & Sharma, N. (2023, May 31). 2023 AMERICAN CONTROL CONFERENCE, ACC, pp. 54–59.

By: K. Lambeth*, M. Singh* & N. Sharma* 

topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Dielectric materials and actuators
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 article

Ultrasound Echogenicity as an Indicator of Muscle Fatigue during Functional Electrical Stimulation

Zhang, Q., Iyer, A., Lambeth, K., Kim, K., & Sharma, N. (2022, January 3). Sensors, Vol. 1.

By: Q. Zhang n , A. Iyer n, K. Lambeth n, K. Kim * & N. Sharma n 

Contributors: Q. Zhang n , A. Iyer n, K. Lambeth n, K. Kim * & N. Sharma n 

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
topics (OpenAlex): Muscle activation and electromyography studies; Advanced Sensor and Energy Harvesting Materials; Electrical and Bioimpedance Tomography
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)
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.

By: Q. Zhang n , K. Lambeth n, A. Iyer n, Z. Sun n & N. Sharma n 

Contributors: Q. Zhang n , K. Lambeth n, A. Iyer n, Z. Sun n & N. Sharma n 

author keywords: Ankle dorsiflexion; drop foot; functional electrical stimulation (FES); nonlinear control; sampled-data observer (SDO); ultrasound (US) imaging
topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Cerebral Palsy and Movement Disorders
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.

By: Q. Zhang* , A. Iyer*, K. Lambeth*, K. Kim *, N. Sharma* , Q. Zhang, A. Iyer, K. Lambeth, K. Kim, N. Sharma

Contributors: Q. Zhang* , A. Iyer*, K. Lambeth*, K. Kim * & N. Sharma* 

MeSH headings : Electric Stimulation; Electromyography; Humans; Isometric Contraction; Muscle Fatigue; Ultrasonography
topics (OpenAlex): Muscle activation and electromyography studies; Electrical and Bioimpedance Tomography; Advanced Sensor and Energy Harvesting Materials
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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