Mayank Singh

College of Engineering

Works (5)

Updated: October 16th, 2024 05:01

2024 journal article

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

IEEE TRANSACTIONS ON ROBOTICS, 40, 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
Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 8, 2024

2023 article

Cooperative Control of a Hybrid Exoskeleton Using Optimal Time Varying Impedance Parameters During Stair Ascent

2023 AMERICAN CONTROL CONFERENCE, ACC, pp. 2739–2744.

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

Sources: Web Of Science, NC State University Libraries
Added: March 11, 2024

2023 article

Data-driven Model Predictive Control for Drop Foot Correction

2023 AMERICAN CONTROL CONFERENCE, ACC, pp. 2615–2620.

By: M. Singh n & N. Sharma* 

TL;DR: Simulation and experimental results from a subject with Multiple Sclerosis show the effectiveness of the data-driven MPC scheme of FES for DFC, including the closed-loop system’s recursive feasibility and asymptotic stability analysis. (via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries
Added: March 11, 2024

2023 journal article

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

IEEE CONTROL SYSTEMS LETTERS, 8, 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
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

Robust Control Barrier Functions for Safety Using a Hybrid Neuroprosthesis

2023 AMERICAN CONTROL CONFERENCE, ACC, pp. 54–59.

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

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

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