Frank C Sup IV

Frank C Sup IV
University of Massachusetts Amherst | UMass Amherst · Department of Mechanical and Industrial Engineering

PhD

About

54
Publications
29,690
Reads
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2,087
Citations
Introduction
I am an Associate Professor of Mechanical Engineering at the University of Massachusetts-Amherst and the Director of the Mechatronics and Robotics Research Lab. My lab focuses on developing human-centered robotic technologies for augmenting human gait and balance and exploring physical human-machine interfaces. Current research topics include adaptive ankle prostheses, rehabilitation aids, and intelligent mobility aids.
Additional affiliations
April 2019 - May 2019
Technische Universität Darmstadt
Position
  • Professor
Description
  • During my 2018-19 sabbatical, I spent time at TU-Darmstadt working with Dr. Philipp Beckerle on prosthetic design and mechatronic education practices.
September 2018 - February 2019
Honda Research Institute Japan Co., Ltd.
Position
  • Principal Investigator
Description
  • During my 2018-19 sabbatical, I joined the Honda Research Institute Japan working on new mechatronic systems.
September 2017 - present
University of Massachusetts Amherst
Position
  • Professor
Education
September 2005 - August 2009
Vanderbilt University
Field of study
  • Mechanical Engineering
January 2005 - August 2006
Vanderbilt University
Field of study
  • Mechanical Engineering
September 1997 - May 2001
University of Illinois, Urbana-Champaign
Field of study
  • Mechanical Engineering

Publications

Publications (54)
Article
Full-text available
A foot–ankle prosthesis designed to mimic the missing physiological limb generates a large sagittal moment during push off which must be transferred to the residual limb through the socket connection. The large moment is correlated with high internal socket pressures that are often a source of discomfort for the person with amputation, limiting pro...
Article
Full-text available
Musculoskeletal modeling and marker based motion capture techniques are commonly used to quantify the motions of body segments, and the forces acting on them during human gait. However, when these techniques are applied to analyze the gait of people with lower limb loss, the clinically relevant interaction between the residual limb and prosthesis s...
Article
Full-text available
This paper presents a handheld surface robot built around a single steerable wheel that can direct the user's motion or modulate the interaction forces with the touchscreen. Steering control is used to render spatial constraints on a touchscreen surface in coordination with the displayed visual objects. A force sensor using flexures and Hall effect...
Article
Predictive simulation based on dynamic optimization using musculoskeletal models is a powerful approach for studying human gait. Predictive musculoskeletal simulation may be used for a variety of applications from designing assistive devices to testing theories of motor control. However, the underlying cost function for the predictive optimization...
Article
This review paper aims to develop a knowledge base and identify promising research pathways toward designing lower limb prostheses for optimal biomechanical and clinical outcomes. It is based on a literature search representing the state-of-the-art in lower limb prosthesis joint design and biomechanical analysis. Current design solutions are organi...
Article
Key points: -We used 31-phosphorus magnetic resonance spectroscopy to quantify in vivo skeletal muscle metabolic economy (ME; mass-normalized torque or power produced per ATP consumed) during three 24-s maximal-effort contraction protocols: 1) sustained isometric (MVIC), 2) intermittent isokinetic (MVDCIsoK ), and 3) intermittent isotonic (MVDCIso...
Article
Full-text available
Walking requires control of where and when to step for stable interlimb coordination. Motorized split-belt treadmills which constrain each leg to move at different speeds lead to adaptive changes to limb coordination that result in after-effects (e.g. gait asymmetry) on return to normal treadmill walking. These after-effects indicate an underlying...
Article
Lighthouse technology, commercially known as SteamVR tracking, is a 3D motion capture system developed for virtual reality applications that couples light-based and inertial tracking methods. In this paper, we benchmark its performance in motion tracking for possible applications in biomechanics and robotics. The tracking performance of the system...
Article
Simulation of musculoskeletal systems using dynamic optimization is a powerful approach for studying the biomechanics of human movements and can be applied to human‐robot interactions. The simulation results of human movements augmented by robotic devices may be used to evaluate and optimize the device design and controller. However, simulations ar...
Article
A magnetic resonance (MR) compatible ergometer has been developed to study contracting lower limb muscles during acquisition of magnetic resonance spectroscopy data, a technique to noninvasively measure metabolic energy in muscle tissue. Current active and passive MR-compatible ergometer designs lack torque or velocity control to allow precise mech...
Article
Full-text available
Marker‐based motion capture techniques are commonly used to measure human body kinematics. These techniques require an accurate mapping from physical marker position to model marker position. Traditional methods utilize a manual process to achieve marker positions that result in accurate tracking. In this work, we present an optimization algorithm...
Preprint
Full-text available
Background Locomotor adaptation during motorized split-belt walking depends on independent processes for spatial and temporal control of step length symmetry. The unique mechanics of motorized split-belt walking that constrains two limbs to move at different speeds during double support may limit transfer of step length adaptations to new walking c...
Conference Paper
Full-text available
Predictive simulation of gait is a promising tool for robotic lower limb prosthesis design, but has been limited in its application to models of existing design types. We propose a modeling approach to find optimal prosthesis dynamics in gait simulations without constraining the prosthesis to follow kinematics allowed by a specific joint mechanism....
Conference Paper
Full-text available
The human ankle provides significant positive power during the stance phase of walking, which has resulted in studies focusing on methods to reduce the energetic walking cost by augmenting the ankle with exoskeletons. Recently, a few devices have successfully reduced the metabolic cost of walking by replacing part of the biological ankle plantar fl...
Conference Paper
Full-text available
This paper presents the development of a compact, modular rotary series elastic actuator (SEA) design that can be customized to meet the requirements of a wide range of applications. The concept incorporates flat brushless motors and planetary gearheads instead of expensive harmonic drives and a flat torsional spring design to create a lightweight,...
Article
In this paper, a multi-sensor, multi-classifier approach for intent recognition of human torso motion is presented. A linear discriminant analysis based classifier is used, and the extraction of time-frequency domain features through the use of the wavelet transform is discussed. In addition, a weighted multi-classifier combination method for combi...
Conference Paper
Full-text available
Robotic prosthetic foot-ankle prostheses typically aim to replace the lost joint with revolute joints aimed at replicating normal joint biomechanics. In this paper, a previously developed robotic ankle prosthesis with active alignment is evaluated. It uses a four-bar mechanism to inject positive power into the gait cycle while altering the kinemati...
Conference Paper
Full-text available
The acceptance of advanced prosthetic systems by users requires overcoming unique challenges of fitting prostheses to unique user anatomies to achieve systematic performance across a user base. Variations among individuals introduce complexities in fitting the sockets. Due to the difficulty of measuring socket interface characteristics, there is a...
Article
Full-text available
This paper presents the design and control of a robotic walker based on a two-wheeled inverted pendulum (TWIP) developed to assist mobility-impaired users with balance and stability. Traditional walkers use three or more contact points to create a solid base to augment a user’s balance. A TWIP walker can support a user’s balance through balance con...
Conference Paper
Full-text available
Current touchscreen-based haptic systems use contact friction to provide kinesthetic force feedback to the user. This paper presents the mechatronic design for a novel haptic interface which uses a steered wheel to provide kinesthetic force feedback on a large-format touchscreen. The goal is to display haptic constraints to a touchscreen user in th...
Article
Full-text available
This paper presents the development of a compact, modular rotary series elastic actuator (SEA) design that can be customized to meet the requirements of a wide range of applications. The concept incorporates flat brushless motors and planetary gearheads instead of expensive harmonic drives and a flat torsional spring design to create a lightweight,...
Conference Paper
Full-text available
This paper presents a control approach for an experimental transtibial prosthesis that can actively realign the residual limb in relation to prosthetic foot during the stance phase of gait. The realignment objective is to inject positive power into the gait cycle while actively reducing the magnitude of the sagittal moment transferred to the residu...
Article
Full-text available
This paper presents a design of a passive spine exoskeleton which implements a “push–pull” external assistive strategy. The spine exoskeleton was designed for reducing the risk of back injury. It applies a pulling force on thoracic region and a pushing force on lumbar region during spine flexion/extension. The design was inspired by previous simula...
Article
In this paper, a novel haptic feedback scheme, used for accurately positioning a 1DOF virtual wrist prosthesis through sensory substitution, is presented. The scheme employs a three-node tactor array and discretely and selectively modulates the stimulation frequency of each tactor to relay 11 discrete haptic stimuli to the user. Able-bodied partici...
Patent
Full-text available
A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an...
Conference Paper
Full-text available
There are an increasing number of people with lower limb amputations resulting from both traumatic and vascular causes. Skin breakdown is a common problem experienced by amputees due to the motion and forces between the stump and socket. The stump soft tissues were not designed to withstand the forces they attenuate inside of the socket, which can...
Article
Full-text available
This paper presents simulations of a new type of powered ankle prosthesis designed to dynamically align the tibia with the ground reaction force (GRF) vector during peak loading. The functional goal is to reduce the moment transferred through the socket to the soft tissue of the residual limb. The forward dynamics simulation results show a reductio...
Conference Paper
Upper-limb prosthetics lack the afferent feedback necessary for an amputee to know where the prosthesis is in relation to the rest of the body. To address this problem, haptic feedback devices have been explored. In this work, a prototype device, consisting of five modules, has been developed which has the capability to create touch stimulations on...
Conference Paper
Full-text available
This paper evaluates a multi-sensor, intent recognition approach towards controlling a powered backbone exoskeleton. Inertial sensors emulated from motion capture recordings, and surface electromyogram (sEMG) readings from the back and abdomen, were investigated for efficacy in recognizing flexion and extension motion of the trunk. A linear discrim...
Article
Full-text available
This paper presents the preliminary design results and control strategy of a two-wheeled inverted pendulum (TWIP) robotic walker for assisting mobility-impaired users with balance and stability. A conceptual model of the vehicle is developed and used to illustrate the purpose of this study. Motor dynamics is considered and the linearized equations...
Article
Full-text available
The moment transferred at the residual limb socket interface of transtibial amputees can be a limiting factor of the comfort and activity level of lower limb amputees. The high pressures seen can be a significant source of pain, as well as result in deep tissue damage. The compensation of the sound limbs causes an asymmetrical gait which can be a c...
Article
Full-text available
This paper presents a new mechanical design for efficient exoskeleton actuation to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch-Yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce power and control requirements of the exoskeleton. The mechanism cre...
Article
Full-text available
This paper presents an activity mode recognition approach to identify the motions of the human torso. The intent recognizer is based on decision tree classification in order to leverage its computational efficiency. The recognizer uses surface electromyography as the input and CART (classification and regression tree) as the classifier. The experim...
Article
Full-text available
Modern passive prosthetic foot/ankles cannot adapt to variations in ground slope. The lack of active adaptation significantly compromises an amputee's balance and stability on uneven terrains. To address this deficit, this paper proposes an ankle prosthesis that uses semi-active damping as a mechanism to provide active slope adaptation. The concept...
Article
Full-text available
State-of-the-art commercial ankle prostheses enable amputees to walk on level ground replicating the passive biomechanics of able-bodied persons reasonably well. However, when navigating uneven terrains (such as slopes and stairs) these devices do not allow the ankle to adjust to the ground at each step in order to maintain stable contact. At these...
Article
This paper extends a previously developed level- ground walking control methodology to enable an above knee amputee to walk up slopes using a powered knee and ankle prosthesis. Experimental results corresponding to walking on level ground and two different slope angles (5 (°) and 10 (°)) with the powered prosthesis using the control method are comp...
Article
Full-text available
This paper describes an approach for the real-time detection of stumble for use in an intelligent lower limb prosthesis, using accelerometers mounted on the prosthesis, and also describes an algorithm that classifies the stumble response as either an elevating or lowering type response. In order to validate the proposed approach, the investigators...
Article
Full-text available
This paper presents a self-contained powered knee and ankle prosthesis, intended to enhance the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. Experiments on an amputee subject for level treadmill and over...
Article
Full-text available
This paper describes a control architecture and intent recognition approach for the real-time supervisory control of a powered lower limb prosthesis. The approach infers user intent to stand, sit, or walk, by recognizing patterns in prosthesis sensor data in real time, without the need for instrumentation of the sound-side leg. Specifically, the in...
Article
Full-text available
This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on...
Article
Full-text available
This work extends the three level powered knee and ankle prosthesis control framework previously developed by the authors by adding sitting mode. A middle level finite state based impedance controller is designed to accommodate sitting, sit-to-stand and stand-to-sit transitions. Moreover, a high level Gaussian Mixture Model based intent recognizer...
Article
Full-text available
This paper describes a real-time gait mode intent recognition approach for the supervisory control of a powered transfemoral prosthesis. The proposed approach infers user intent by recognizing patterns in the prosthesis sensor's signals in real-time, eliminating the need for sound-side instrumentation and allowing fast mode switching. Simple time b...
Article
Full-text available
This paper presents an overview of the design and control of an electrically powered knee and ankle prosthesis. The prosthesis design incorporates two motor-driven ball screw units to drive the knee and ankle joints. A spring in parallel with the ankle motor unit is employed to decrease the power consumption and increase the torque output for a giv...
Article
Full-text available
The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and...
Conference Paper
Full-text available
This paper describes the design and control of a transfemoral prosthesis with an electrically powered knee joint. This paper details the design of the active-knee prototype and presents an impedance-based control approach with which to coordinate the interaction between the prosthesis and user during level walking. The control methodology is implem...
Conference Paper
Full-text available
This paper describes the design and control of a transfemoral prosthesis with pneumatically powered knee and ankle joints. The current version of the prosthesis serves as a laboratory testbed for purposes of controller development and testing, and as such is tethered for both power and control. A subsequent version will be self-contained, with on-b...
Conference Paper
Full-text available
This paper describes the design of an above-knee prosthesis with actively powered knee and ankle joints, both of which are actuated via pneumatic actuators. The prosthesis serves as a laboratory test-bed to validate the design and develop of control interfaces for future self-contained versions (i.e., with onboard hot-gas power and computing), and...

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Projects

Projects (3)
Project
This project embodies the core focus of our research with the objective to predict the optimal behavior of robotic transtibial prostheses to optimize the user’s performance, efficiency, and loading of their limbs based on their individual constraints and needs. We are working in collaboration with Dr. Brian Umberger in the Department of Kinesiology at UMass-Amherst to identify ideal prosthesis behaviors. An innovative simulation-based approach in the OpenSim platform is used to generate system specifications based on the user’s abilities and the constraints posed by their altered anatomy. The central hypothesis is that alternative prosthesis designs can minimize the pressures applied to the residual limb and enhance gait efficiency by optimizing the orientation of the residual limb relative to the ground reaction force vector during gait. In this project we developed the concept of active alignment which realigns the affected residual limb toward the center of pressure during stance. During gait, the prosthesis configuration changes to shorten the moment arm between the ground reaction force and the residual limb. This reduces the peak moment transferred through the socket interface during late stance and increases comfort for the wearer.
Project
The RaspberryPIC GoPack is an open-source prototyping platform for wearable robotics and embedded systems. Find more information at the project webpage: http://www.ecs.umass.edu/gopack/ It uses a custom add-on board for the Raspberry Pi to handle multiple sensors and actuators with high timing precision and wirelessly stream data back to a host PC running Simulink. The board was designed to be easily prototypable in a research lab setting - 2 layers, standard pour, no components smaller than 0603, all components on the top side. It provides a wireless robotic systems platform designed to cut down the time from concept to wearable prototype. This is a research project being developed at the Mechatronics and Robotics Research Lab (MRRL) at the University of Massachusetts, Amherst.