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Publications

2017

A.K. LaPré, R.D. Wedge, M.A. Price, B.R. Umberger, and F.C. Sup IV, “Approach for Gait Analysis in Persons with Limb Loss Including Residuum and Prosthesis Socket Dynamics", Int. J. for Numerical Methods in Biomedical Engineering, (accepted).

Q. Nie and F.C. Sup IV, “A Soft Four Degree-of-Freedom Load Cell Based on the Hall Effect”, IEEE Sensors Journal, 2017 (accepted).

D. Ruiken, J.P. Cummings, U. Savaria, R.A. Grupen, and F.C. Sup IV, “uBot-7: A Dynamically Balancing Mobile Manipulator with Series Elastic Actuators”, IEEE-RAS International Conference on Humanoid Robots, 2017.

A.K. LaPré, V. Nguyen, M. White, and F.C. Sup IV, “Capturing Prosthetic Socket Fitment: Preliminary Results using Ultrasound-based Device”, IEEE Int. Conf. on Rehabilitation Robotics, 2017.

A.K. LaPré, B.R. Umberger, and F.C. Sup IV, “Evaluation of a Robotic Foot-Ankle Prosthesis with Active Alignment”, IEEE Int. Conf. on Rehabilitation Robotics, 2017.

B.R. Umberger, A.K.LaPré, R.T. Johnson, R.D. Wedge and F.C. Sup IV, “Simulation of Residuum-Socket Dynamics in Walking Following Limb Loss”, Int. Society of Biomechanics Conf., 2017.

R.D. Wedge, A.K. LaPré, F.C. Sup IV, and B.R. Umberger, “Gait Stability in People with Unilateral Transtibial Amputation across Walking Speeds”, American Society of Biomechanics Conf., 2017.

D.L. Gregory, F.C. Sup, J.T. Choi, “Generalization of Split-Belt Locomotor Adaptation: Motorized Treadmill After-effects are Preserved after Washout on a Non-Motorized Treadmill”, American Society of Biomechanics Conf., 2017.

R. Nagarajan, Y. Jaber, M. Bartlett, L.F. Fitzgerald, J. Miehm, F.C. Sup IV, J.A. Kent, “Development of a Non-Magnetic Ergometer for Quantitation of Human Skeletal Muscle Bioenergetics During Supine Dynamic Contractions of the Knee Extensors,” Int. Society of Magnetic Resonance Meeting, 2017.

A. Kadrolkar and F.C. Sup IV, “Intent Recognition of Torso Motion Using Wavelet Transform Feature Extraction and Linear Discriminant Analysis Ensemble Classification”, Biomedical Signal Processing and Control, vol. 38, pp. 250-264, 2017.

A.R. da Silva and F.C. Sup IV, “Design and Control of a Two-Wheeled Robotic Walker for Balance Enhancement,” J. of Intelligent & Robotic Systems, vol. 86, pp. 17-34, 2017.

2016

A.K. LaPré, B.R. Umberger, and F.C. Sup IV, "A Robotic Ankle Prosthesis with Dynamic Alignment", ASME J. of Medical Devices, 10(2), 025001-025001-9, 2016.

J.P. Cummings, D. Ruiken, E.L. Wilkinson, M.W. Lanighan, R.A. Grupen, and F.C. Sup IV, “A Compact, Modular Series Elastic Actuator”, ASME J. of Mechanisms and Robotics, 8(4): 041016-041016-11, 2016.

M. Price and F.C. Sup IV, “A Robotic Touchscreen Totem for Two-Dimensional Haptic Force Display", IEEE Haptics Symposium (HAPTICS), pp. 72-77, 2016.

2015

A. Erwin and F.C. Sup IV, “A Haptic Feedback Scheme to Accurately Position a Virtual Wrist Prosthesis Using a Three-Node Tactor Array”, PloS one 10.8, e0134095, 2015.

H. Zhang, A. Kadrolkar, and F. Sup, “Design and Preliminary Evaluation of a Passive Spine Exoskeleton", ASME J. Medical Devices, 10(1):011002-011002-8. 2015.

A.K. LaPré and F. Sup, "A Control Strategy for an Active Alignment Transtibial Prosthesis", ASME Dynamic Systems and Control Conference, Paper No. DSCC2015-9948, pp. V001T18A005, 2015.

R.D. Wedge, A.K. LaPré, F. Sup, and B.R. Umberger, “Effects Of Walking Speed On The Stump-Socket Interface In Transtibial Amputees,” American Society of Biomechanics Conf., 2015.

R.D. Wedge, A.K. LaPré, F. Sup, and B.R. Umberger, “A Lower-Limb Amputee Musculoskeletal Model for Quantifying Stump-Socket Kinematics And Kinetics,” 2015 Int. Society of Biomechanics Conf., SS-0048, 2015.

2014

Z. Zhang and F. Sup, “Activity Recognition of the Torso based on Surface Electromyography and Inertial Measurement Units for Exoskeleton Control”, Biomedical Signal Processing and Control, vol. 10, pp. 281-8, 2014.

A.K. LaPré, B.R. Umberger, and F. Sup, “Simulation of a Powered Ankle Prosthesis with Dynamic Joint Alignment,” Int. Conf. of the IEEE Engineering in Medicine and Biology Society, 2014.

A. Erwin and F. Sup, “Haptic Feedback for Hand Amputees Using Low-Frequency Tactile Stimulations from a Voice Coil Tactor Array“, Haptics Symposium, p. 505-8, 2014.

2013

A. Kadrolkar and F. Sup, “Classification of Trunk Motion for a Backbone Exoskeleton using Inertial Data and Surface Electromyography,” IEEE Int. Conf. on Systems, Man, and Cybernetics, pp. 3978-3983, 2013.

A.K. LaPré and F. Sup, “Redefining Prosthetic Ankle Mechanics: Non-Anthropomorphic Ankle Design,” IEEE Int. Conf. on Rehabilitation Robotics, p. 1-5, 2013.

M.C. Ryder and F. Sup, “Leveraging Gait Dynamics to Improve Efficiency and Performance of Powered Hip Exoskeletons,” IEEE Int. Conf. on Rehabilitation Robotics, p. 1-6, 2013.

A.R. da Silva and F. Sup, “Design and Control of a Two-Wheeled Robotic Walker for Balance Enhancement,” IEEE Int. Conf. on Rehabilitation Robotics, p. 1-6, 2013.

2011

F. Sup, H.A. Varol, and M. Goldfarb, “Upslope Walking with a Powered Knee and Ankle Prosthesis: Initial Results with an Amputee Subject,” IEEE Trans. on Neural Systems and Rehabilitation Engineering, vol. 19, no. 1, pp. 71-78, 2011.

A.K. LaPré and F. Sup, “A Semi-Active Damper Design for use in a Terrain Adaptive Ankle Prosthesis,” Proc. of the ASME Int. Mech. Eng. Congress and Exposition, IMECE2011-65533, 2011.

A.K. LaPré and F. Sup, "Simulation of a Slope Adapting Ankle Prosthesis Provided by Semi-Active Damping," 33rd Int. Conf. of the IEEE Engineering in Medicine and Biology Society, p. 587-90, 2011.

2010

H.A. Varol, F. Sup, and M. Goldfarb, “Real-Time Multiclass Intent Recognition of a Powered Transfemoral Prosthesis,” IEEE Transactions on Biomedical Engineering, vol. 57, no. 3, pp. 542-51, 2010.

B. E. Lawson, H. A. Varol, F. Sup and M. Goldfarb, “Stumble Detection and Classification for an Intelligent Transfemoral Prosthesis,” 32nd International IEEE EMBS Conference, pp. 511-4, 2010.

2009

F. Sup, H. A. Varol, J. Mitchell, T. J. Withrow, and M. Goldfarb, “Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis,” IEEE/ASME Transactions on Mechatronics, vol. 14, no. 6, pp. 667-76, 2009.

F. Sup, H. A. Varol, J. Mitchell, T. J. Withrow, and M. Goldfarb, “Self-Contained Powered Knee and Ankle Prosthesis: Initial Evaluation on a Transfemoral Amputee,” IEEE 11th Int. Conf. on Rehabilitation Robotics, pp. 638-44, 2009. (Awarded ICORR 2009 TNSRE Best Paper)

H. A. Varol, F. Sup, and M. Goldfarb, “Powered Sit-to-Stand and Assistive Stand-to-Sit Framework for a Powered Transfemoral Prosthesis,” IEEE 11th Int. Conf. on Rehabilitation Robotics, pp. 645-51, 2009.

2008

F. Sup, A. Bohara, and M. Goldfarb, “Design and Control of a Powered Transfemoral Prosthesis,” International Journal of Robotics Research, vol. 27, no. 2, pp. 263-73, Feb, 2008.

F. Sup, H. A. Varol, J. Mitchell, T.J. Withrow, M. Goldfarb, “Design and Control of an Active Electrical Knee and Ankle Prosthesis,” Proc. IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics , pp. 523-28, 2008.

H. A. Varol, F. Sup, and M. Goldfarb, “Real-time Gait Mode Intent Recognition of a Powered Knee and Ankle Prosthesis for Standing and Walking,” Proc. IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 66-72, 2008.

2007

K.B. Fite, J. Mitchell, F.C. Sup, and M. Goldfarb, “Design and Control of an Electrically Powered Knee Prosthesis,” 10th International Conference on Rehabilitation Robotics, pp. 902-5, 2007.

F. Sup, A. Bohara, and M. Goldfarb, “Design and Control of a Powered Knee and Ankle Prosthesis," IEEE International Conference on Robotics and Automation, pp. 4134-39, 2007.

2006

F. Sup and M. Goldfarb, “Design of a Pneumatically Actuated Transfemoral Prosthesis,” Proceedings of the ASME Int. Mech. Eng. Congress and Exposition, IMECE2006-15707, 2006.

 

Patents

F.C. Sup IV, A.K. LaPre, M. White, “Prosthetic Socket Fitment System”, US Patent Application, No 20160367386, filed 6/17/2016.

M. Goldfarb, H.A. Varol, B.E. Lawson F.C. Sup IV, “Systems and Control Methodologies for Improving Stability in Powered Lower Limb Devices, US Patent, No. 9,750,620, 9/15/2017.

M. Goldfarb, H.A. Varol, F.C. Sup, J. Mitchell, T.J. Withrow, “Powered Leg Prosthesis and Control Methodologies for Obtaining Near Normal Gait,” US Patent, No. 9,289,315, 3/22/2016.

M. Goldfarb, H.A. Varol, F.C. Sup, J. Mitchell, T.J. Withrow, “Powered Leg Prosthesis and Control Methodologies for Obtaining Near Normal Gait,” US Patent, No. 9,180,025, 11/10/2015.

M. Goldfarb, H.A. Varol, F.C. Sup, J. Mitchell, T.J. Withrow, “Powered Leg Prosthesis and Control Methodologies for Obtaining Near Normal Gait,” US Patent, No. 8,986,396, 3/24/2015.

M. Goldfarb, H.A. Varol, F.C. Sup, J. Mitchell, T.J. Withrow, “Powered Leg Prosthesis and Control Methodologies for Obtaining Near Normal Gait,” US Patent, No. 8,652,218, 2/14/2014.

M. Goldfarb, H.A. Varol, B.E. Lawson, F.C. Sup, “Systems and Control Methodologies for Improving Stability in Powered Lower Limb Devices, European Patent No. EP2496184, 9/12/2012.

 

Theses and Dissertations

C.L. Punith Kumar, Evaluation of Impedance Control on a Powered Hip Exoskeleton. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2017.

Y. Jaber, A Magnetic Resonance Compatible Knee Extension Ergometer. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, May 2017.

A.K. LaPré, A Lower Limb Prosthesis with Active Alignment for Reduced Limb Loading. Ph.D. Dissertation, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2016.

A. Kadrolkar, Multi-Classifier Fusion Strategy for Activity and Intent Recognition of Torso Movements. Ph.D. Dissertation, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2016.

Q. Nie, A Soft Multiple- Degree of Freedom Load Cell Based on the Hall Effect. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2016.

V. Nguyen, Intent Recognition of Rotation versus Translation Movements in Human-Robot Collaborative Manipulation Tasks. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2016.

M.A. Price, A Haptic Surface Robot for Interacting with Large-Format Touchscreen Displays. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, May 2016.

M.C. Ryder, A Continuous Rotary Actuation Mechanism for a Powered Hip Exoskeleton. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, May 2015.

J. P. Cummings, uBot-7: The Design of a Compliant Dexterous Mobile Manipulator. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2014.

A.R. da Silva, Design and Control of a Two-Wheeled Robotic Walker. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2014.

H. Zhang, Design of a Passive Exoskeleton Spine. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, September 2014.

Z. Zhang, Activity Intent Recognition of the Torso Based on Surface Electromyography and Inertial Measurement Units. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, May 2013.

A.K. LaPré, Semi-Active Damping for an Intelligent Terrain Adaptive Ankle Prosthesis. M.S. Thesis, Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, May 2012.

F.C. Sup IV, A Powered Self-Contained Knee and Ankle Prosthesis for Near Normal Gait in Transfemoral Amputees. Ph.D. Dissertation, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, August 2009.

F.C. Sup IV, Design and Control of Powered Transfemoral Prosthesis. M.S. Thesis, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, December 2006.