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Kinsey R. Herrin - IEEE Xplore Author Profile

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This study introduces a novel continual learning algorithm that incrementally improves the performance of deep-learning-based walking speed estimators during level-ground walking with a powered knee-ankle prosthesis. While user-dependent (DEP) estimators generally outperform user-independent (IND) estimators, they require the pre-collection of DEP training data. In contrast, our real-time algorith...Show More
Traditional robotic knee-ankle prostheses categorize ambulation modes such as level walking, ramps, and stairs. However, human movement scales continuously across various states rather than discretely, making traditional mode classifiers inadequate for accurate intent recognition. This letter proposes a mode-unified intent recognition strategy that continuously estimates terrain slopes across five...Show More
Post-stroke gait is slow, energetically costly, and unstable. Rehabilitation is necessary to encourage, retrain, and assist proper gait mechanics in stroke survivors. Evidence indicates robotic ankle exoskeletons can improve gait outcomes in stroke survivors, however challenges remain with proper lower limb positioning for optimal receipt of the assistance. Biofeedback can be used to improve posit...Show More
The field of wearable robotics has made significant progress toward augmenting human functions from multimodal ambulation to manual lifting tasks. However, most of these systems are designed to be task-specific and only focus on a single type of movement (e.g., ambulation). In this work, we design, fabricate, and characterize a versatile hip exoskeleton testbed for lifting and ambulation tasks. Th...Show More
Genu recurvatum, or knee hyperextension, is a complex gait pattern with a variety of etiologies, and is often connected with knee weakness, lack of motor control, and spasticity. Because of the atypical forces placed on the soft tissues, early treatment or prevention of knee hyperextension may help prevent further degradation of the knee joint. In this study, we assessed the feasibility of a knee ...Show More
Scoliosis is the lateral curvature of the spine in the coronal plane, and kyphosis is the posterior curvature of the spine in the sagittal plane. For pediatric patients, these conditions can occur independently or in conjunction with one another and vary in severity. Most pediatric scoliosis cases are treated through bracing, but severe cases require surgical curvature correction. To reduce the ri...Show More
Lower-limb robotic prostheses present a potential solution for enhancing the mobility of individuals with amputation. However, comparing results amongst different research groups is a challenge as there are many differences between research devices. A recent effort from the University of Michigan created and established an open-source design for an active knee and ankle prosthesis with embedded se...Show More
This article presents a voice-controlled soft robotic hand exoskeleton for hand assistance. Cervical spinal cord injury results in a disruption of the nerve signals, causing paralysis and limited upper extremity function. The impairment significantly limits the completion of activities of daily living (ADL) due to the importance of hand function. Recently, there has been an increase in hand exoske...Show More
Objective: Osteoarthritis is the most common type of knee arthritis that can be affected by excessive and compressive loads and can affect one or more compartments of the knee: medial, lateral, and patellofemoral. The medial compartment tends to be the most vulnerable to injuries and research suggests that a better understanding of the medial to lateral load distribution conditions could provide i...Show More
Cervical spinal cord injury (SCI) can severely impact hand motor and sensory function, and accordingly, patients with SCI are often unable to complete basic everyday tasks without assistance. In recent years, there has been an increase in hand exoskeleton research due to their distinct advantages for improving rehabilitation. In this work, we present a voice-controlled, tendon-driven soft robotic ...Show More
Spinal cord injury (SCI) and stroke are pathologies that often result in the loss of/decrease in hand functionality. Hand function is a critical component of everyday life and therefore, a primary focus of clinical SCI/stroke rehabilitation is hand function recovery/improvement. In recent years, there has been a surge in hand exoskeleton research due to the potential for exoskeletons to improve cl...Show More
Dynamically altering the parameters for assistance in a lower limb prosthesis is a challenge that depends directly on the ability to estimate gait parameters. Machine learning algorithms present an opportunity to develop methods for continuously determining walking speed in different conditions. Current state-of-the-art solutions involve using wearable sensors such as IMUs to estimate these parame...Show More
Developing intelligent prosthetic controllers to recognize user intent across users is a challenge. Machine learning algorithms present an opportunity to develop methods for predicting user's locomotion mode. Currently, linear discriminant analysis (LDA) offers the standard solution in the state-of-the-art for subject dependent models and has been used in the development of subject independent app...Show More