Publications

Journal Papers

Assistance magnitude vs. metabolic cost reductions for a tethered multiarticular soft exosuit - B. Quinlivan, S. Lee, P. Malcolm, S. M. M. De Rossi, M. Grimmer, C. Siviy, N. Karavas, D. Wagner, A. Asbeck, I. Galiana, C. Walsh, Science Robotics, 2(2), 2017.

A biologically-inspired multi-joint soft exosuit that can reduce the energy cost of loaded walking - F. Panizzolo, I. Galiana, A. Asbeck, C. Siviy, K. Schmidt, K. Holt, C. Walsh, J. of NeuroEngineering and Rehabilitation 13(43), 2016.

Biomechanical and physiological evaluation of multi-joint assistance with soft exosuits - Y. Ding, I. Galiana, A. Asbeck, S. M. M. De Rossi, J. Bae, T. Ribeiro Teles Santos, V. Lara Araujo, S. Lee, K. Holt, C. Walsh, IEEE Trans. on Neural Systems and Rehabilitation Eng., Vol. 99, 2016.

Soft Exosuit for Hip Assistance - A. Asbeck, K. Schmidt, and C. Walsh, Robotics and Autonomous Systems, 73:102-110, 2015.

A Biologically-Inspired Soft Exosuit for Walking Assistance - A. Asbeck, S.M.M. DeRossi, K. Holt, and C. Walsh, Int. J. of Robotics Research, 34(6):744-762, 2015.

Stronger, Smarter, Softer: Next Generation Wearable Robots - A. Asbeck, S.M.M. De Rossi, I. Galiana, Y. Ding, and C. Walsh, IEEE Robotics and Automation Magazine, 21(4):22-33, 2014.

The Gecko’s Toe: Scaling Directional Adhesives for Climbing Applications - E. Hawkes, E. Eason, A. Asbeck, and M. Cutkosky, IEEE/ASME Trans. on Mechatronics, 18(2):518-526, 2013.

Designing Compliant Spine Mechanisms for Climbing - A. Asbeck and M. Cutkosky, ASME Journal of Mechanisms and Robotics, 4(3):031007, 2012.

Landing, Perching, and Taking Off from Vertical Surfaces - A. Lussier Desbiens, A. Asbeck, and M. Cutkosky, Int. J. of Robotics Research, 30(3):355-370, 2011.

Scaling Hard Vertical Surfaces with Compliant Microspine Arrays - A. Asbeck, S. Kim, M. Cutkosky, W. Provancher, and M. Lanzetta, Int. J. of Robotics Research, 25(12):1165-1179, 2006.

Conference and Workshop Papers

Disturbance Compensation and Step Optimization for Push Recovery - R. Griffin, A. Asbeck, A. Leonessa, Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 2016.

Controlling Negative and Positive Power at the Ankle with a Soft Exosuit - S. Lee, S. Crea, P. Malcolm, I. Galiana, A. Asbeck, C. Walsh, Proc. of the Int. Conf. on Robotics and Automation, pp.3509-3515, May 2016.

Force Transfer Characterization of a Soft Exosuit for Gait Assistance - B. Quinlivan, A. Asbeck, D. Wagner, T. Ranzani, S. Russo, C. Walsh, ASME 2015 International Design Engineering Technical Conf. and Computers and Information in Engineering Conf., Paper No. DETC2015-47871, pp. V05AT08A049, Boston, MA, USA, August 2015.

Multi-joint Soft Exosuit for Gait Assistance - A. Asbeck, K. Schmidt, I. Galiana, C. Walsh, Proc. of the Int. Conf. on Robotics and Automation, pp. 6197-6204, 2015.

Multi-joint Actuation Platform for Lower Extremity Soft Exosuits - Y. Ding, I. Galiana, A. Asbeck, B. Quinlivan, S.M.M. De Rossi, C. Walsh, Proc. of the Int. Conf. on Robotics and Automation, pp. 1327-1334, 2014.

Biologically-inspired Soft Exosuit - A. Asbeck, R. Dyer, A. Larusson, C. Walsh, Proc. of the Int. Conf. on Rehabilitation Robotics, pp. 1 – 8, 2013.

A Low-cost Compliant 7-DOF Robotic Manipulator - M. Quigley, A. Asbeck, and A. Ng, Proc. of the Int. Conf. on Robotics and Automation, pp. 6051-6058, 2011.

Low-Cost Manipulation Powered by ROS - M. Quigley, A. Asbeck, and A. Ng, In the Assoc. for the Adv. of Artificial Intelligence workshop “Enabling Intelligence through Middleware,” 2010.

Hybrid Aerial and Scansorial Robotics - A. Lussier Desbiens, A. Asbeck, and M. Cutkosky, Proc. of the Int. Conf. on Robotics and Automation, pp. 72-77, 2010.

Scansorial Landing and Perching - A. Lussier Desbiens, A. Asbeck, and M. Cutkosky, Proc. 14th International Symposium on Robotics Research, 2009.

Climbing rough vertical surfaces with hierarchical directional adhesion - A. Asbeck*, S. Dastoor*, A. Parness*, L. Fullerton, N. Esparza, D. Soto, B. Heyneman, and M. Cutkosky (* = equal contributions), Proc. of the Int. Conf. on Robotics and Automation, pp. 2675-2680, 2009.

SpinybotII: Climbing Hard Walls with Compliant Microspines, S. Kim, A. Asbeck, M. Cutkosky, and W. Provancher, Proc. of the Int. Conf. on Advanced Robotics, pp. 601-606, 2005.

Scaling hard vertical surfaces with compliant microspine arrays - A. Asbeck, S. Kim, M. Cutkosky, W. Provancher, and M. Lanzetta, Proc. of Robotics: Science and Systems I, 2005.