Gray C. Thomas

40 papers A* 2A 6C 7Journal 19Unranked 6
YearRankTypeTitle / Venue / Authors
2025 — conf
Amplifying Human Strength Through a Virtual Sprung Inertia.
ICORR
Anthony Petrakian, Zachary Bucknor-Smartt, Crystal Q. Scott, Gray C. Thomas
2025 J jnl
Characterization of a Quasi-Direct Drive Knee Perturbation System for Mechanical Impedance Estimation.
IEEE Robotics Autom. Lett.
Yves F. Nazon II, Gray C. Thomas, Elliott J. Rouse
2025 J jnl
Empirically Compensated Setpoint Tracking for Spherical Robots With Pressurized Soft-Shells.
IEEE Robotics Autom. Lett.
Derek Pravecek, Micah Oevermann, Gray C. Thomas, Robert O. Ambrose
2025 — conf
Human-Interface Dynamics of Knee Exoskeletons with Lateral and Anteroposterior Attachment.
ICORR
Yichen Wang, José A. Montes-Pérez, Robert D. Gregg, Gray C. Thomas
2024 J jnl
A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons.
IEEE Trans. Control. Syst. Technol.
Jianping Lin, Gray C. Thomas, Nikhil V. Divekar, Vamsi Peddinti, Robert D. Gregg
2024 J jnl
A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks.
Sci. Robotics
Nikhil V. Divekar, Gray C. Thomas, Avani R. Yerva, Hannah B. Frame, Robert D. Gregg
2024 J jnl
Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots.
IEEE Robotics Autom. Lett.
Ting-Wei Hsu, Robert D. Gregg, Gray C. Thomas
2023 A* conf
A Compact, Two-Part Torsion Spring Architecture.
ICRA
Zachary Bons, Gray C. Thomas, Luke M. Mooney, Elliott J. Rouse
2023 A conf
A Sensitivity Analysis of an Economic Value Metric for Quantifying the Success of Lower-Limb Exoskeletons and Their Assistance.
IROS
Nundini D. Rawal, Roberto L. Medrano, Gray C. Thomas, Elliott J. Rouse
2023 A conf
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control.
IROS
Katharine Walters, Gray C. Thomas, Jianping Lin, Robert D. Gregg
2022 J jnl
Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses.
IEEE Robotics Autom. Lett.
Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg
2021 C conf
Biologically-Inspired Impedance Control With Hysteretic Damping.
ACC
Nicolas Brissonneau, Binghan He, Gray C. Thomas, Luis Sentis
2021 J jnl
Biologically-Inspired Impedance Control With Hysteretic Damping.
IEEE Control. Syst. Lett.
Nicolas Brissonneau, Binghan He, Gray C. Thomas, Luis Sentis
2021 A conf
Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice.
IROS
Edgar A. Bolívar-Nieto, Gray C. Thomas, Elliott J. Rouse, Robert D. Gregg
2021 J jnl
Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses.
CoRR
Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg
2021 J jnl
Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons.
Frontiers Robotics AI
Gray C. Thomas, Orion Campbell, Nick Nichols, Nicolas Brissonneau, Binghan He, Joshua James, Nicholas Paine, Luis Sentis
2020 J jnl
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control.
CoRR
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis
2020 C conf
Adaptive Compliance Shaping with Human Impedance Estimation.
ACC
Huang Huang, Henry F. Cappel, Gray C. Thomas, Binghan He, Luis Sentis
2020 — conf
Methods for Measuring the Just Noticeable Difference for Variable Stimuli: Implications for Perception of Metabolic Rate with Exoskeleton Assistance.
BioRob
Roberto L. Medrano, Gray C. Thomas, Elliott J. Rouse
2020 C conf
Robust Estimator-Based Safety Verification: A Vector Norm Approach.
ACC
Binghan He, Gray C. Thomas, Luis Sentis
2019 J jnl
Adaptive Compliance Shaping with Human Impedance Estimation.
CoRR
Huang Huang, Henry F. Cappel, Gray C. Thomas, Binghan He, Luis Sentis
2019 A conf
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons.
IROS
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis
2019 J jnl
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons.
CoRR
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis
2019 C conf
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation.
ACC
Binghan He, Gray C. Thomas, Nicholas Paine, Luis Sentis
2019 J jnl
Robust Estimator-Based Safety Verification: A Vector Norm Approach.
CoRR
Binghan He, Gray C. Thomas, Luis Sentis
2018 — conf
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming.
ROBIO
Rachel Schlossman, Gray C. Thomas, Orion Campbell, Luis Sentis
2018 J jnl
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming.
CoRR
Rachel Schlossman, Gray C. Thomas, Luis Sentis
2018 J jnl
Identifying H[infinity]-Models: An LMI Approach.
CoRR
Gray C. Thomas, Luis Sentis
2018 J jnl
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation.
CoRR
Binghan He, Gray C. Thomas, Nicholas Paine, Luis Sentis
2018 C conf
Safety Control Synthesis with Input Limits: a Hybrid Approach.
ACC
Gray C. Thomas, Binghan He, Luis Sentis
2018 J jnl
Safety Control Synthesis with Input Limits: a Hybrid Approach.
CoRR
Gray C. Thomas, Binghan He, Luis Sentis
2017 A* conf
Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints.
ICRA
Prashant Rao, Gray C. Thomas, Luis Sentis, Ashish D. Deshpande
2017 C conf
MIMO identification of frequency-domain unreliability in SEAs.
ACC
Gray C. Thomas, Luis Sentis
2016 J jnl
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control.
IEEE Trans. Robotics
Donghyun Kim, Ye Zhao, Gray C. Thomas, Benito R. Fernández, Luis Sentis
2016 A conf
Towards computationally efficient planning of dynamic multi-contact locomotion.
IROS
Gray C. Thomas, Luis Sentis
2015 — conf
A method for dynamically balancing a point foot robot.
Humanoids
Donghyun Kim, Gray C. Thomas, Luis Sentis
2015 J jnl
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking.
CoRR
Donghyun Kim, Ye Zhao, Gray C. Thomas, Luis Sentis
2015 — conf
Hybrid multi-contact dynamics for wedge jumping locomotion behaviors.
HSCC
Ye Zhao, Donghyun Kim, Gray C. Thomas, Luis Sentis
2014 C conf
Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal.
ICARCV
Donghyun Kim, Gray C. Thomas, Luis Sentis
2014 A conf
Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback.
IROS
Kwan-Suk Kim, Alan S. Kwok, Gray C. Thomas, Luis Sentis