Publications

Reducing Vibration Exposure for Medevac Patients with Real-time Vibration Control of Air Bladder Cushions. S. Kumar, D. Sivasubramanian, I. Singh, A. Palomino, and M. Wijesundara, submitted to Journal of Vibration & Control, under review. (Preprint: PDF)

Smart Seat Cushion Mobile Application with On-Device Posture Prediction Using TensorFlow Lite. S. Kumar, P. Kashyap, Y. Tzen, and M. Wijesundara, submitted to Disability and Rehabilitation: Assistive Technology,  accepted. (Preprint: PDF)

Development of an Adaptive Spine Board Overlay for Interface Pressure Reduction during Long-range Aeromedical Evacuation: Implication for Pressure Injury Prevention. V. Erel, A. Palomino, A. Jamieson, I, Singh, S. Kumar, Y. Tzen, M. Wijesundara. Journal of Rehab. and Assistive Technologies Engineering, 2025, doi: 10.1177/20556683251349108. (PDF)

An Active Spring Mass Model with Biomimetic Ground Reaction Forces For Multiple Terrains.  S. Kumar and H. Geyer, IEEE Transactions on Biomedical Engineering, 2025, doi: 10.1109/TBME.2025.3586534. (PDF | Video)

Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs. S. Kumar, A. Mohammadi, D. Quintero, S. Rezazadeh, N. Gans, and R. Gregg. IEEE Transactions on Control Systems Technology, 2019, doi: 10.1109/TCST.2019.2928514. (Preprint: PDF | Video)

Extremum Seeking Control for Stiffness Auto-Tuning of a Pseudo-Passive Ankle Exoskeleton. S. Kumar, M. Zwall, E. Bolivar, R. Gregg, and N. Gans. IEEE Robotics & Automation Letters, 2020, doi:10.1109/LRA.2020.3001541. (Preprint: PDF | Video)  

Stability of Time-Invariant Extremum Seeking Control for Periodic Systems. S. Kumar, O. Makarenkov, R. Gregg, and N. Gans. IEEE Transactions on Automatic Control, 2022., doi: 10.1109/TAC.2022.3181253. (Preprint: PDF)

Comprehensive Swing Leg Motion Predictor for Steady and Transient Walking Conditions H. Xing, S. Kumar, and H. Geyer, accepted to ICRA 2022. (Preprint: PDF | Video)

Limit Cycle Minimization by Time-Invariant Extremum Seeking Control. S. Kumar, A. Mohammadi, R. Gregg, and N. Gans. In American Control Conference, 2019. (Preprint: PDF) 

Automatic Tuning of Virtual Constraint-Based Control Algorithms for Powered Knee-Ankle Prostheses. S. Kumar, A. Mohammadi, N. Gans, and R. Gregg.  IEEE Conference on Control Technology and Applications (Invited Session on Robotic Locomotion Control), Hawaii, 2017. Best Student Paper Award Finalist. (Preprint: PDF | Video)

Extremum Seeking Control for Multi-Objective Optimization Problems. S. Kumar and N. Gans. IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 1112-1118, doi: 10.1109/CDC.2016.7798416. (Preprint: PDF | MATLAB Code)

ZMP based Feedback Control of Ankle Joint, S. Kumar, S. Sonkar, M. Raj and G. C. Nandi,  International Conference on Industrial Instrumentation and Control (ICIC), pp. 1032-1037, 2015. (PDF)

Energy optimized trajectory generation for bipedal locomotion, S. Kumar, M. Raj and G. C. Nandi, International Conference on Computing in Mechanical Engineering (ICCME), Kochi, India, 2015 (PDF)

Time-Invariant Extremum Seeking Control. S. Kumar, O. Makarenkov, R. Gregg, and N. Gans. American Control Conference, 2020. (PDF | Video)

Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs. S. Kumar, A. Mohammadi, D. Quintero, S. Rezazadeh, N. Gans, and R. Gregg. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 2018. (PDF)

Real-Time Vibration Control of Air-Bladder Cushions for Medical Evacuation. D. Subramanian and S. Kumar. UTARI Research Day, 2025. (PDF)

Personalized Posture Prediction via On-Device Training for Wheelchair Users. R. Gajjala and Saurav Kumar. UTARI Research Day, 2025 (PDF)