Journal Papers

To Appear

2024

[15] K. Stubbs, B. Allen, W. E. Dixon, “Telerehabilitation through a Remotely Operated Motorized Functional Electric Stimulation Actuated Cycle,” IEEE Trans. Control Sys. Tech., Vol. 32(3), pp. 744-754, 2024.

[14] J. Crapet, B. Allen, "Hybrid-Exoskeleton Construction and Control," AU J. Undergrad. Scholarsh., 2024.

2023

[13] J. Crapet, E. Spieler, B. Allen, "Hybrid-Exoskeleton Construction," AU J. Undergrad. Scholarsh., 2023.

[12] B. Allen, K. Stubbs, W. E. Dixon, “Robust Cadence and Power Tracking on a Switched FES Cycle with an Unknown Electromechanical Delay,” IEEE Trans. Control Sys. Tech., Vol 31(1), pp. 451-458, 2023.

[11] B. Allen, K. Stubbs, W. E. Dixon, “Electromechanical Delay during Functional Electrical Stimulation Induced Cycling is a Function of Lower Limb Position,” Disabil. Rehabil.: Assist. Technol., Vol. 18(5), pp. 491-496, 2023.

2022

[10] B. Allen, K. Stubbs, W. E. Dixon, “Data-Based and Opportunistic Integral Concurrent Learning for Adaptive Trajectory Tracking During Switched FES-Induced Biceps Curls,” IEEE Trans. Neural Syst. Rehabil. Eng., Vol 30, pp. 2557-2566, 2022.

[9] B. Allen, K. Stubbs, W. E. Dixon, “Robust Cadence Tracking for Switched FES-Cycling Using a Time-Varying Estimate of the Unknown Electromechanical Delay,” Automatica, Vol. 144, 2022.

[8] B. Allen, K. Stubbs, W. E. Dixon, “Position and Cadence Tracking of a Motorized FES-Cycle with and Unknown Time-Varying Input Delay Using Saturated FES Control,” Automatica, Vol. 139, 2022.

[7] B. Allen, C. Cousin, C. Rouse, W. E. Dixon, "Robust Cadence Tracking for Switched FES-Cycling with an Unknown Time-Varying Input Delay," IEEE Trans. Control Sys. Tech., Vol. 30(2), pp. 827-834, 2022.

[6] A. Sargolzaei, B. C. Allen, C. D. Crane, W. E. Dixon, “Lyapunov-Based Control of a Nonlinear Multi-Agent System with a Time-Varying Input Delay under False-Data-Injection Attacks,” IEEE Trans. Ind. Informat., Vol. 18(4), pp. 2693-2703, 2022.

2021

[5] A. Isaly, B. C. Allen, R. G. Sanfelice, W. E. Dixon, "Encouraging Volitional Pedaling in FES-Assisted Cycling Using Barrier Functions," Front. Robot. AI., Vol. 8, pp. 1-13, 2021.

[4] C. Rouse, C. A. Cousin, B. C. Allen, W. E. Dixon, "Shared Control for Switched Motorized FES-Cycling on a Split-Crank Cycle Accounting for Muscle Control Input Saturation," Automatica, Vol. 123, pp. 1-11, 2021.

2020

[3] C. Rouse, B. Allen, W. E. Dixon, “Switched Control of Motor Assistance and Functional Electrical Stimulation for Biceps Curls,” Appl. Sci., Vol. 22(10), pp. 1-14, 2020.

[2] B. Allen, K. Stubbs, W. E. Dixon, "Characterization of the Time-Varying Nature of Electromechanical Delay during FES-Cycling," IEEE Trans. Neural Syst. Rehabil. Eng., Vol. 28(10), pp. 2236-2245, 2020.

2019

[1] B. Allen, S. K. Charles, “Effect of Gyroscope Parameters on Gyroscopic Tremor Suppression in a Single Degree of Freedom,” J. Mech. Med. Biol., Vol. 19(4), 2019.

Conference Papers

2024

[20] K. Mishra, J. Ting, S. Basyal, B. C. Allen, "Robust Control of a Nonsmooth or Switched Euler-Lagrange Dynamic System Using ARISE Control," In Proc. Conf. Decis. Control, 2024.

[19] S. Basyal, J. Ting, K. Mishra, B. C. Allen, "Concurrent Learning and Lyapunov-based Updates of Deep Neural Networks for Euler-Lagrange Dynamic Systems," In Proc. Am. Control Conf., 2024.

[18] S. Basyal, J. Ting, K. Mishra, B. C. Allen, "Augmentation of a Lyapunov-based Deep Neural Network Controller with Concurrent Learning for Control-Affine Nonlinear Systems," In Proc. Am. Control Conf., 2024.

[17] A. Baskaran, S. Basyal, B. C. Allen, C. Rose, "Neuromuscular Model-free Epistemic Risk Guided Exploration (NeuroMERGE) for Safe Autonomy in Human-Robot Interaction," In Proc. Am. Control Conf., 2024.

[16] A. Baskaran, S. Basyal, B. C. Allen, C. Rose, "Deep Generative Neuromuscular Demand Forecasting for On-Line Optimization in Soft Hand Exoskeleton Control ," Int. Symp. Med. Robot., 2024.

2023

[15] J. Ting, S. Basyal, B. C. Allen, “Deep Neural Network Based Saturated Adaptive Control of Muscles in a Lower-Limb Hybrid Exoskeleton,” In ASME Int. Mech. Eng. Congr. Expo. (IMECE), 2023.

[14] S. Basyal, J. Ting, B. C. Allen, “RISE-Like Saturated Control for Nonsmooth and Switched Nonlinear Systems,” In ASME Int. Mech. Eng. Congr. Expo. (IMECE), 2023.

[13] J. Ting, S. Basyal, B. C. Allen, “Robust Control of a Nonsmooth or Switched Control Affine Uncertain Nonlinear System Using a Novel RISE-Inspired Approach,” In Proc. Am. Control Conf., 2023.

2021

[12] H. M. Sweatland, B. C. Allen, M. L. Greene, W. E. Dixon, "Deep Neural Network Real-Time Control of a Motorized FES Cycle with an Uncertain Time-Varying Electromechanical Delay," In ASME Int. Mech. Eng. Congr. Expo. (IMECE), 2021.

2020

[11] B. Allen, K. Stubbs, W. E. Dixon, "Saturated Control of a Switched FES-Cycle with an Unknown Time-Varying Input Delay," In Proc. IFAC Conf. Cyber. Phys. Hum. Syst., 2020.

[10] A. Isaly, B. Allen, R. Sanfelice, W. E. Dixon, "Zeroing Control Barrier Functions for Safe Volitional Pedaling in a Motorized Cycle," In Proc. IFAC Conf. Cyber. Phys. Hum. Syst., 2020.

[9] K. Stubbs, B. Allen, W. E. Dixon, "Admittance Control of a Teleoperated Motorized Functional Electrical Stimulation Rehabilitation Cycle," In Proc. IFAC Conf. Cyber. Phys. Hum. Syst., 2020.

[8] B. Allen, K. Stubbs, W. E. Dixon, "Adaptive Trajectory Tracking During Motorized and FES-Induced Biceps Curls via Integral Concurrent Learning," In Proc. ASME Dyn. Syst. Control Conf., 2020.

[7] K. Stubbs, B. Allen, W. E. Dixon, "Teleoperated Motorized Functional Electric Stimulation Actuated Rehabilitative Cycling," In Proc. ASME Dyn. Syst. Control Conf., 2020.

[6] B. Allen, K. Stubbs, W. E. Dixon, "Robust Power and Cadence Tracking on a Motorized FES Cycle with an Unknown Time-Varying Input Delay," In Proc. IEEE Conf. Decis. Control, 2020.

[5] B. C. Allen, K. Stubbs, W. E. Dixon, "Robust Cadence Tracking for Switched FES-Cycling with an Unknown Time Varying Input Delay Using a Time-Varying Estimate," In IFAC World Congr., 2020.

2019

[4] C. Rouse, C. Cousin, B. C. Allen, W. E. Dixon, “Split-Crank Cadence Tracking for Switched Motorized FES-Cycling with Volitional Pedaling,” In Proc. Am. Control Conf., 2019.

[3] B. C. Allen, C. Cousin, C. Rouse, W. E. Dixon, "Cadence Tracking for Switched FES Cycling with Unknown Input Delay," In Proc. IEEE Conf. Decis. Control, 2019, Nice, Fr.

[2] B. Allen, C. Cousin, C. Rouse, W. E. Dixon, "Cadence Tracking for Switched FES-Cycling with Unknown Time-Varying Input Delay," In Proc. ASME Dyn. Syst. Control Conf., 2019.

2017

[1] S. K. Charles, D. W. Geiger, A. D. Davidson, A. C. Pigg, C. P. Curtis, B. C. Allen, “Toward quantitative characterization of essential tremor for future tremor suppression,” IEEE Int. Conf. Rehabil. Robot., 2017.

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