Funding

NRI: FND: COLLAB: An Open-Source Robotic Leg Platform that Lowers the Barrier for Academic Research
National Robotics Initiative 2.0 (CMMI-1734600), R. Gregg (UTD PI), E. Rouse (Michigan PI), and H. Geyer (CMU PI)
National Science Foundation: Division of Civil, Mechanical and Manufacturing Innovation (CMMI)
10/01/2017 - 09/30/2020, $749,054 total costs ($193,000 UTD share)
Description: The objective of this project is to create a scalable research platform for robotic lower-limb prostheses that will accelerate progress in the field by lowering the barrier-to-entry with ubiquitous, open-source hardware and software modules.


CAREER: Recovering and Enhancing Natural Locomotion in Changing Conditions with Powered Lower-Limb Prostheses and Orthoses
Faculty Early Career Development (CAREER) Award (CMMI-1652514), R. Gregg (PI)
National Science Foundation: Division of Civil, Mechanical and Manufacturing Innovation (CMMI)
09/01/2017 - 08/31/2022, $500,000 total costs
Description: The objective of this project is to establish 1) a transformative paradigm for energetic control of powered prostheses and orthoses that can assist lower-limb amputees and stroke survivors across changing conditions, and 2) an integrated education program at the interface of STEM and disability that spans from K-12 students to prosthetics-orthotics students.


DCSD: Time-Invariant, Multi-Objective Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs
Dynamics, Control and Systems Diagnostics (CMMI-1728057), N. Gans (PI) and R. Gregg (co-PI)
National Science Foundation: Division of Civil, Mechanical and Manufacturing Innovation (CMMI)
09/01/2017 - 08/31/2020, $373,483 total costs
Description: The objective of this project is to understand model-free, adaptive optimization methods with varying time-scales and competing objectives in order to enable real-time auto-tuning of powered prosthetic legs.


NRI: Decentralized Feedback Control Design for Cooperative Robotic Walking with Application to Powered Prosthetic Legs
National Robotics Initiative (CMMI-1637704), K. Hamed (SDSU PI) and R. Gregg (UTD PI)
National Science Foundation: Division of Civil, Mechanical and Manufacturing Innovation (CMMI)
09/01/2016 - 08/31/2019, $612,213 total costs ($245,730 UTD share)
Description: The objective of this project is to investigate decentralized feedback control strategies for legged robots with cooperative subsystems, including powered prosthetic legs.


DP2: Phase-Based Control of Locomotion for High-Performance Prostheses and Orthoses
NIH Director's New Innovator Award (DP2HD080349-01), R. Gregg (PI)
National Institutes of Health: Office of the Director and the Eunice Kennedy Shriver National Institute of Child Health & Human Development
09/30/2013 - 06/30/2018, $2,295,000 total costs
Description: The objective of this project is to investigate the existence of phase-based control strategies in human locomotion for the purpose of designing high-performance control systems for lower-limb prostheses/orthoses.


CASI: From Machine to Biomimetic Control in Robot-Assisted Walking
Career Award at the Scientific Interface, R. Gregg (PI)
Burroughs Wellcome Fund
07/01/2012 - 06/30/2020, $500,000 direct costs
Description: This career transition award supports the PI's development of a research program for translating theoretical control principles from walking robots into clinically viable powered prosthetic legs for amputees.