Publications

Selected Publications:

IEEE Transactions on Biomedical Engineering Cover showing an individual with amputation wearing a wrist exoskeleton

C. G. Welker, V. L. Chiu, A. S. Voloshina, S. H. Collins and A. M. Okamura, "Teleoperation of an Ankle-Foot Prosthesis With a Wrist Exoskeleton," in IEEE Transactions on Biomedical Engineering, vol. 68, no. 5, pp. 1714-1725, May 2021, doi: 10.1109/TBME.2020.3046357. 

Journal of Experimental Biology showing a runner wearing an exotendon

C.S. Simpson, C. G. Welker, S. D. Uhlrich, S. M. Sketch, R. W. Jackson, S. L. Delp, S. H. Collins, J. C. Selinger, E. W. Hawkes, "Connecting the legs with a spring improves human running economy," in Journal of Experimental Biology, vol. 222, no. 17, Sept 2019, doi: 10.1242/jeb.202895. 

Additional Journal Publications: 

(Refer here for the most updated page)

C. G. Welker, T. K. Best and R. D. Gregg, "Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 31, pp. 4146-4155, 2023, doi: 10.1109/TNSRE.2023.3320692.

T. K. Best, C. G. Welker, E. J. Rouse and R. D. Gregg, "Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking," in IEEE Transactions on Robotics, vol. 39, no. 3, pp. 2151-2169, June 2023, doi: 10.1109/TRO.2022.3226887.

C. G. Welker, S. H. Collins and A. M. Okamura, "Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement," in IEEE Transactions on Haptics, vol. 15, no. 4, pp. 741-752, 1 Oct.-Dec. 2022, doi: 10.1109/TOH.2022.3219031.

S. Cheng, E. Bolívar-Nieto, C. G. Welker and R. D. Gregg, "Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing," in IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 3, pp. 840-851, Aug. 2022, doi: 10.1109/TMRB.2022.3185405.

E. Reznick, C. G. Welker and R. D. Gregg, "Predicting Individualized Joint Kinematics Over Continuous Variations of Walking, Running, and Stair Climbing," in IEEE Open Journal of Engineering in Medicine and Biology, vol. 3, pp. 211-217, 2022, doi: 10.1109/OJEMB.2023.3234431.

C. G. Welker, A. S. Voloshina, V. L. Chiu, and S. H. Collins. "Shortcomings of Human-in-the-loop Optimization of an Ankle-foot Prosthesis Emulator: a Case Series," in Royal Society Open Science, doi: 10.1098/rsos.202020.

Conference Proceedings:

C. G. Welker, T. K. Best and R. D. Gregg, "Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 9660-9667, doi: 10.1109/IROS47612.2022.9982037.

C. G. Welker, S. H. Collins and A. M. Okamura, "Human Perception of Wrist Torque Magnitude During Upper and Lower Extremity Movement," 2021 IEEE World Haptics Conference (WHC), Montreal, QC, Canada, 2021, pp. 870-870, doi: 10.1109/WHC49131.2021.9517214.