{"id":319,"date":"2023-02-06T19:29:56","date_gmt":"2023-02-07T00:29:56","guid":{"rendered":"https:\/\/academic.csuohio.edu\/richter-hanz\/?page_id=319"},"modified":"2023-02-07T08:47:28","modified_gmt":"2023-02-07T13:47:28","slug":"cps","status":"publish","type":"page","link":"https:\/\/academic.csuohio.edu\/richter-hanz\/cps\/","title":{"rendered":"CPS"},"content":{"rendered":"\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-top is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"197\" src=\"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/CPSimg-1024x197.png\" alt=\"\" class=\"wp-image-330\" srcset=\"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/CPSimg-1024x197.png 1024w, https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/CPSimg-300x58.png 300w, https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/CPSimg-768x148.png 768w, https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/CPSimg-1536x295.png 1536w, https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/CPSimg-2048x393.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"has-text-align-center wp-block-heading\">Cyber-Enabled Repetitive Motions in Rehabilitation<\/h3>\n\n\n\n<h4 class=\"has-text-align-center has-black-color has-text-color wp-block-heading\">Results from NSF CPS Synergy Grant&nbsp;<a href=\"https:\/\/www.nsf.gov\/awardsearch\/showAward?AWD_ID=1544702&amp;HistoricalAwards=false\">1544702. <\/a>&nbsp;(2014-2020)<\/h4>\n\n\n\n<figure class=\"wp-block-table\">\n<table>\n<thead>\n<tr>\n<th>Synopsis<\/th>\n<th>Papers<\/th>\n<th>Code<\/th>\n<th>Media<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\n<ul>\n<li><a href=\"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/Intro-1.pdf\">Introduction and Objectives<\/a><\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li>H. Richter, A. van den Bogert, D. Simon and K. Sparks<a href=\"https:\/\/d2368tcediwknr.cloudfront.net\/bkm\/magazin_2016_02_en\/index.html#page_36\" target=\"_blank\" rel=\"noopener\"> Smart Training  <\/a>. <i>dSPACE magazine<\/i>,2016<\/li>\n<\/ul>\n<p>\u00a0<\/p>\n<\/td>\n<td>\u00a0<\/td>\n<td><a href=\"https:\/\/youtu.be\/vQKVbAgkclI\" target=\"_blank\" rel=\"noopener\">NSF CPS introductory video\u00a0 <\/a><\/td>\n<\/tr>\n<tr>\n<td>\n<ul>\n<li style=\"text-align: left\"><a href=\"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/Modeling.pdf\">Modeling\/Control<\/a><br \/><i class=\"fa fa-file\" aria-hidden=\"true\"><\/i><\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li>H. Richter and H. Warner<a href=\"https:\/\/ieeexplore.ieee.org\/document\/9216543\" target=\"_blank\" rel=\"noopener\"> Motion optimization for musculoskeletal dynamics, a flatness-based<br \/>polynomial approach  <\/a>. <i>IEEE Trans. Automatic Control<\/i>, 2021.<\/li>\n<li>H. Richter and D. Selvaraj <a href=\"https:\/\/engagedscholarship.csuohio.edu\/etdarchive\/1125\/\" target=\"_blank\" rel=\"noopener\">Impedance control with energy regeneration in advanced exercise machines <\/a>. Proc. American Control Conference, 2015.<\/li>\n<li>H. Wang and van den Bogert A. <a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/33210140\/\" target=\"_blank\" rel=\"noopener\">Identification of postural controllers in human standing<br \/>balance <\/a> J Biomech Eng., 2020.<\/li>\n<li>H. Wang and van den Bogert A. <a href=\"https:\/\/www.sciencedirect.com\/science\/article\/abs\/pii\/S0165027020300029\/\" target=\"_blank\" rel=\"noopener\">Identification of the human postural control system through stochastic trajectory optimization <\/a> Journal of Neuroscience Methods, 334:108580, 2020<\/li>\n<li>H. Warner, H. Richter, and A. van den Bogert <a href=\"https:\/\/doi.org\/10.1115\/1.4047447\" target=\"_blank\" rel=\"noopener\"> Backstepping control of open-chain linkages<br \/>actuated by antagonistic Hill muscles. <\/a> ASME J. Dynamic Systems, Meas. Control, 142(10), 2020<\/li>\n<li>F. Rohani, H. Richter, and A.J. van den Bogert <a target=\"_blank\" rel=\"noopener\"> Optimal design and control of a rowing<br \/>exercise machine <\/a> Proceedings of the 2017 Biomedical Engineering Society Annual Meeting,<br \/>Phoenix, Arizona, 2017.<\/li>\n<li>F. Rohani and A.J. van den Bogert <a target=\"_blank\" rel=\"noopener\"> Rowing machine modeling and simulation <\/a> Proceedings<br \/>of the 2017 American Society of Biomechanics Midwest Regional Meeting, Grand Rapids,<br \/>Michigan, 2017<\/li>\n<li>H. Richter and A. van den Bogert <a href=\"https:\/\/doi.org\/10.1115\/DSCC2015-9817\" target=\"_blank\" rel=\"noopener\"> On the system-theoretic passivity properties of a Hill muscle<br \/>model. <\/a> Proceedings of the 2015 ASME Dynamic Systems and Control Conference, Columbus,<br \/>Ohio, 2015.<\/li>\n<li>H. Warner and H. Richter <a href=\"https:\/\/doi.org\/10.1016\/j.ifacol.2017.08.1360\" target=\"_blank\" rel=\"noopener\"> Stable nonlinear control of an angonist-antagonist muscle-driven<br \/>system  <\/a> Proceedings of the 2017 IFAC World Congress, Toulouse, France, 2017<\/li>\n<li>H. Warner, H. Richter, and A.J. van den Bogert <a href=\"https:\/\/doi.org\/10.1115\/DSCC2017-5384\" target=\"_blank\" rel=\"noopener\"> Nonlinear tracking control of an antagonistic<br \/>muscle pair actuated system <\/a> Proceedings of the 2017 ASME Dynamic Systems and Control<br \/>Conference, Tyson Corners, Virginia, 2017.<\/li>\n<li>H.E. Warner <a href=\"http:\/\/rave.ohiolink.edu\/etdc\/view?acc_num=csu1577719990967925\" target=\"_blank\" rel=\"noopener\">Simulation and Control at the Boundaries Between Humans and Assistive<br \/>Robots  <\/a> PhD thesis, Cleveland State University, 2019.<\/li>\n<li>H. Wang <a href=\"http:\/\/rave.ohiolink.edu\/etdc\/view?acc_num=csu1588964890459579\" target=\"_blank\" rel=\"noopener\"> Identification of Motion Controllers in Human Standing and Walking  <\/a> PhD thesis, Cleveland State University, 2019.<\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li><a href=\"codes\/IFACdistrib.zip\">Download Code for IFAC17 paper <\/a><\/li>\n<li><a href=\"https:\/\/github.com\/csurowing\/RowingData\">Github repository &#8211; rowing data  <\/a><\/li>\n<li><a href=\"codes\/SOS_Flatness_Code.zip\">Download Code for IEEE TAC21 paper <\/a><\/li>\n<\/ul>\n<\/td>\n<td><!-- Nothing --><\/td>\n<\/tr>\n<tr>\n<td>\n<ul>\n<li style=\"text-align: left\"><a href=\"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/Estimation.pdf\">State Estimation of Musculoskeletal Dynamics<\/a><br \/><i class=\"fa fa-file\" aria-hidden=\"true\"><\/i><\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li>H. Mohammadi, G. Khademi, A. van den Bogert, D. Simon, and H. Richter <a href=\"https:\/\/doi.org\/10.1049\/iet-cta.2020.0321\" target=\"_blank\" rel=\"noopener\"> Upper-body<br \/>estimation of muscle forces, muscle states and joint motion using an extended Kalman filter  <\/a>, <i> IET Control Theory and Applications <\/i>, 2020<\/li>\n<li>T. Nguyen, H. Warner, H. La, H. Mohammadi, D. Simon, and H. Richter <a href=\"https:\/\/arxiv.org\/abs\/1712.00522\" target=\"_blank\" rel=\"noopener\"> State estimation for<br \/>an agonistic-antagonistic muscle system  <\/a>. <i>Asian Journal of Control <\/i>, 2018<\/li>\n<li>H. Mohammadi, Y. Hong, G. Khademi, T. Nguyen, D. Simon, and H. Richter Extended Kalman<br \/>filtering for state estimation of a Hill muscle model, <i> IET Control Theory and Applications<\/i>,12(3):384\u2013394, 2018.<\/li>\n<li>H. Mohammadi, G. Khademi, D. Simon, and H. Richter <a href=\"https:\/\/doi.org\/10.1115\/DSCC2017-5319\" target=\"_blank\" rel=\"noopener\"> State estimation of an advanced rowing<br \/>machine using optimized Kalman filtering  <\/a>, <i> Proceedings of the 2017 ASME Dynamic Systems and<br \/>Control Conference <\/i>,Tyson Corners, Virginia, 2017.<\/li>\n<li>H. Mohammadi, D. Simon, and H. Richter State estimation of a muscle-driven linkage ,<i>Pro-<br \/>ceedings of the 2018 American Control Conference <\/i>,Milwaukee, Wisconsin, 2018.<\/li>\n<li>T. Nguyen, H. Warner, H. Mohammadi, D. Simon, and H. Richter <a href=\"https:\/\/doi.org\/10.1115\/DSCC2017-5304\" target=\"_blank\" rel=\"noopener\"> On the state estimation of<br \/>an agonistic-antagonistic muscle system  <\/a>, <i> Proceedings of the 2017 ASME Dynamic Systems and<br \/>Control Conference <\/i>,Tyson Corners, Virginia, 2017.<\/li>\n<\/ul>\n<\/td>\n<td><!-- Nothing --><\/td>\n<td><!-- Nothing --><\/td>\n<\/tr>\n<tr>\n<td>\n<ul>\n<li style=\"text-align: left\"><a href=\"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/CEEMcontrol.pdf\">Design and Control of Cyber- Exercise Machines<\/a><br \/><i class=\"fa fa-file\" aria-hidden=\"true\"><\/i><\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li>\n<p>\u00a0<span style=\"font-size: inherit;font-weight: inherit\">H. De las Casas, K. Kleis, H. Richter, K. Sparks, and A. van den Bogert <\/span><a style=\"font-size: inherit;font-weight: inherit\" href=\"https:\/\/doi.org\/10.1016\/j.medntd.2019.100008\" target=\"_blank\" rel=\"noopener\"> Eccentric training with a powered rowing machine  <\/a><span style=\"font-size: inherit;font-weight: inherit\">, <\/span><i style=\"font-size: inherit;font-weight: inherit\"> Medicine in Novel Technology and Devices<\/i><span style=\"font-size: inherit;font-weight: inherit\">, 201<\/span>9<\/p>\n<\/li>\n<li>\n<p><span style=\"font-size: inherit;font-weight: inherit\">E. Gualter dos Santos and H. Richter <\/span><a style=\"font-size: inherit;font-weight: inherit\" href=\"https:\/\/www.mdpi.com\/2076-0825\/8\/1\/12\" target=\"_blank\" rel=\"noopener\"> Design and analysis of a novel actuation mechanism <\/a><\/p>\n<p><a href=\"https:\/\/www.mdpi.com\/2076-0825\/8\/1\/12\" target=\"_blank\" rel=\"noopener\">with controllable stiffness  <\/a>, <i> Actuators<\/i>, 8(1), 2019. H. De las Casas, H. Richter, and A.J. van den Bogert <a href=\"https:\/\/doi.org\/10.1115\/DSCC2017-5243\" target=\"_blank\" rel=\"noopener\"> Design and hybrid impedance control<br \/>of a powered rowing machine  <\/a>, Proceedings of the 2017 ASME Dynamic Systems and Control Conference, Tyson Corners, Virginia, 2017.<\/p>\n<\/li>\n<li>H. Richter, S. Mobayen, and D. Simon <a href=\"https:\/\/doi.org\/10.1115\/DSCC2018-8945\" target=\"_blank\" rel=\"noopener\"> Contact and tracking hybrid control with impulse-<br \/>momentum sliding surface and terminal sliding mode  <\/a>, Proc. ASME Dynamic Systems and Control Conference, Atlanta, Georgia, 2018<\/li>\n<li>E. Gualter dos Santos and H. Richter <a href=\"https:\/\/doi.org\/10.1115\/DSCC2018-9054\" target=\"_blank\" rel=\"noopener\"> Modeling and control of a novel variable-stiffness regen-<br \/>erative actuator  <\/a>, Proc. ASME Dynamic Systems and Control Conference, Atlanta, Georgia, 2018<\/li>\n<li>H. de las Casas <a href=\"http:\/\/rave.ohiolink.edu\/etdc\/view?acc_num=csu1501517088458169\" target=\"_blank\" rel=\"noopener\">Design and control of a powered rowing machine with programmable<br \/>impedance  <\/a> Master&#8217;s thesis, Cleveland State University, 2017.<\/li>\n<li>S. Bianco <a href=\"http:\/\/rave.ohiolink.edu\/etdc\/view?acc_num=csu1560110051211548\" target=\"_blank\" rel=\"noopener\">Robust impedance control of a four degree-of-freedom<br \/>exercise robot  <\/a> Master&#8217;s thesis, Cleveland State University, 2019.<\/li>\n<li>K. Kleis <a href=\"http:\/\/rave.ohiolink.edu\/etdc\/view?acc_num=csu1534697072520532\" target=\"_blank\" rel=\"noopener\"> Eccentric workloads generated by a powered rowing machine and its effects on<br \/>muscular contraction and metabolic cost  <\/a> Master&#8217;s thesis, Cleveland State University, 2018.<\/li>\n<li>F. Rohani, H. Richter, and A.J. van den Bogert <a target=\"_blank\" rel=\"noopener\"> Optimal design and control of a rowing<br \/>exercise machine <\/a> Proceedings of the 2017 Biomedical Engineering Society Annual Meeting,<br \/>Phoenix, Arizona, 2017.<\/li>\n<li>F. Rohani and A.J. van den Bogert <a target=\"_blank\" rel=\"noopener\"> Rowing machine modeling and simulation <\/a> Proceedings<br \/>of the 2017 American Society of Biomechanics Midwest Regional Meeting, Grand Rapids,<br \/>Michigan, 2017<\/li>\n<\/ul>\n<\/td>\n<td><!-- Nothing --><\/td>\n<td>\n<ul>\n<li><a href=\"https:\/\/youtu.be\/DNiX3qVsQcE\" target=\"_blank\" rel=\"noopener\"> Rowing exercise measurements with a conventional machine <i class=\"fa fa-youtube fa-2x\" aria-hidden=\"true\"><\/i> <\/a><\/li>\n<\/ul>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<ul>\n<li style=\"text-align: left\"><a href=\"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-content\/uploads\/sites\/61\/2023\/02\/ES.pdf\">Self-Optimizing Control for Muscle Effort Distribution Targeting<\/a><br \/><i class=\"fa fa-file\" aria-hidden=\"true\"><\/i><\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li>H. De las Casas, H. Warner, and H. Richter <a href=\"https:\/\/www.sciencedirect.com\/science\/article\/abs\/pii\/S1350453321000321\" target=\"_blank\" rel=\"noopener\"> Real-time optimization of an ellipsoidal trajectory<br \/>orientation using muscle effort with extremum seeking control  <\/a>, <i> Medical Engineering and Physics <\/i>, v. 91, pp. 19-27, 2021.<\/li>\n<li>H. De las Casas, S. Bianco, and H. Richter <a href=\"https:\/\/www.sciencedirect.com\/science\/article\/abs\/pii\/S1350453321000746\" target=\"_blank\" rel=\"noopener\"> Targeted muscle effort distribution with exercise robots: Trajectory and resistance effects  <\/a>, <i> Medical Engineering and Physics <\/i>, v. 94, pp. 70-79, 2021.<\/li>\n<li>H. De las Casas <a href=\"http:\/\/rave.ohiolink.edu\/etdc\/view?acc_num=csu1625490714196286\" target=\"_blank\" rel=\"noopener\"> Model-Free Optimization of Trajectory and Impedance Parameters on Exercise Robots with Applications to Human Performance and Rehabilitation  <\/a> PhD thesis, Cleveland State University, 2021.<\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li><a href=\"https:\/\/github.com\/HumbertoDlc\/ESC_BBO_Exercise_Optimization\">Github repository &#8211; code for ESC\/BBO exercise optimization  <\/a><\/li>\n<\/ul>\n<\/td>\n<td>\n<ul>\n<li><a href=\"https:\/\/youtu.be\/MSI8M5v0pSA\" target=\"_blank\" rel=\"noopener\"> Pilot test with the CSU4OptimX robot<i class=\"fa fa-youtube fa-2x\" aria-hidden=\"true\"><\/i> <\/a><\/li>\n<\/ul>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/figure>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>Cyber-Enabled Repetitive Motions in Rehabilitation Results from NSF CPS Synergy Grant&nbsp;1544702. &nbsp;(2014-2020) Synopsis Papers Code Media Introduction and Objectives H. Richter, A. van den Bogert, D. Simon and K. Sparks Smart Training . dSPACE magazine,2016 \u00a0 \u00a0 NSF CPS introductory video\u00a0 Modeling\/Control H. Richter and H. Warner Motion optimization for musculoskeletal dynamics, a flatness-basedpolynomial approach&mldr;<\/p>\n","protected":false},"author":31,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","footnotes":""},"class_list":["post-319","page","type-page","status-publish","hentry"],"featured_image_src":null,"_links":{"self":[{"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/pages\/319","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/users\/31"}],"replies":[{"embeddable":true,"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/comments?post=319"}],"version-history":[{"count":16,"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/pages\/319\/revisions"}],"predecessor-version":[{"id":357,"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/pages\/319\/revisions\/357"}],"wp:attachment":[{"href":"https:\/\/academic.csuohio.edu\/richter-hanz\/wp-json\/wp\/v2\/media?parent=319"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}