# Publications Search Within Results Search Within Results search ## 7 results Show filters filter\_alt Sort by Year of PublicationAlphabetical A-Z sort ## 7 results Download 7 citations download- [BibTeX](/node/680891/export?format=bibtex) - [EndNote X3 XML](/node/680891/export?format=endnote8) - [EndNote 7 XML](/node/680891/export?format=endnote7) - [Endnote tagged](/node/680891/export?format=tagged) - [Marc](/node/680891/export?format=marc) - [PubMedId](/node/680891/export?format=pubmed_id) - [RIS](/node/680891/export?format=ris) ### 2025 Connor M. McCann✱, James Arnold✱, Carolin Lehmacher, Katia Bertoldi, and Conor J. Walsh. 2025. “[On-Body Textile Hysteresis Estimation for Personalized Physical Human-Robot Interaction](https://doi.org/10.1177/02783649251358840)”. The International Journal of Robotics Research (IJRR). ( ✱ : Equally Contributed 1st Authors.) Connor M. McCann✱, James Arnold✱, Carolin Lehmacher, Katia Bertoldi, and Conor J. Walsh. 2025. “[On-Body Textile Hysteresis Estimation for Personalized Physical Human-Robot Interaction](https://doi.org/10.1177/02783649251358840)”. The International Journal of Robotics Research (IJRR). ( ✱ : Equally Contributed 1st Authors.) - add\_circle\_outline do\_not\_disturb\_on Abstract - [ descriptionPublisher's Version](https://doi.org/10.1177/0278364925135884) Nearly all soft wearable robots rely on textiles to distribute actuation forces to the human body; however, the mechanical hysteresis of these materials significantly complicates device control. If not properly accounted for, this history-dependent... - [ descriptionPublisher's Version](https://doi.org/10.1177/0278364925135884) James Arnold✱, Prabhat Pathak✱, Yichu Jin, David Pont-Esteban, Connor M. McCann, Carolin Lehmacher, John P. Bonadonna, Tanguy Lewko, Katherine M. Burke, Sarah Cavanagh, Lynn Blaney, Kelly Rishe, Tazzy Cole, Sabrina Paganoni, David Lin, and Conor J. Walsh. 2025. “[Personalized ML-Based Wearable Robot Control Improves Impaired Arm Function](https://doi.org/10.1038/s41467-025-62538-8)”. Nature Communications. ( ✱ : Equally Contributed 1st Authors.), 16 James Arnold✱, Prabhat Pathak✱, Yichu Jin, David Pont-Esteban, Connor M. McCann, Carolin Lehmacher, John P. Bonadonna, Tanguy Lewko, Katherine M. Burke, Sarah Cavanagh, Lynn Blaney, Kelly Rishe, Tazzy Cole, Sabrina Paganoni, David Lin, and Conor J. Walsh. 2025. “[Personalized ML-Based Wearable Robot Control Improves Impaired Arm Function](https://doi.org/10.1038/s41467-025-62538-8)”. Nature Communications. ( ✱ : Equally Contributed 1st Authors.), 16 - add\_circle\_outline do\_not\_disturb\_on Abstract - [ descriptionPublisher's Version](https://doi.org/10.1038/s41467-025-62538-8) Portable wearable robots offer promise for assisting people with upper limb disabilities. However, movement variability between individuals and trade-offs between supportiveness and transparency complicate robot control during real-world tasks. We address... - [ descriptionPublisher's Version](https://doi.org/10.1038/s41467-025-62538-8) ### 2021 James Arnold and Hyunglae Lee. 2021. “[Variable Impedance Control for PHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot](/publications/variable-impedance-control-phri-impact-stability-agility-and-human-effort)”. IEEE Robotics and Automation Letters, 6, 2, Pp. 2429-36 James Arnold and Hyunglae Lee. 2021. “[Variable Impedance Control for PHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot](/publications/variable-impedance-control-phri-impact-stability-agility-and-human-effort)”. IEEE Robotics and Automation Letters, 6, 2, Pp. 2429-36 - add\_circle\_outline do\_not\_disturb\_on Abstract - [ descriptionPublisher's Version](https://doi.org/10.1109/LRA.2021.3062015) This letter introduces a variable impedance controller which dynamically modulates both its damping and stiffness to improve the trade-off between stability and agility in coupled human-robot systems and reduce the human user’s effort. The controller... - [ descriptionPublisher's Version](https://doi.org/10.1109/LRA.2021.3062015) Fatemeh Zahedi✱, James Arnold✱, Connor Phillips, and Hyunglae Lee. 2021. “[Variable Damping Control for PHRI: Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots](/publications/variable-damping-control-phri-considering-stability-agility-and-human-effort)”. IEEE Transactions on Human-Machine Systems (THMS). ( ✱ : Equally Contributed 1st Authors.) Fatemeh Zahedi✱, James Arnold✱, Connor Phillips, and Hyunglae Lee. 2021. “[Variable Damping Control for PHRI: Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots](/publications/variable-damping-control-phri-considering-stability-agility-and-human-effort)”. IEEE Transactions on Human-Machine Systems (THMS). ( ✱ : Equally Contributed 1st Authors.) - add\_circle\_outline do\_not\_disturb\_on Abstract - [ descriptionPublisher's Version](https://doi.org/10.1109/THMS.2021.3090064) This article presents a multi-degree-of-freedom variable damping controller to manage the trade-off between stability and agility and to reduce user effort in physical human-robot interaction. The controller accounts for the human body's inherent... - [ descriptionPublisher's Version](https://doi.org/10.1109/THMS.2021.3090064) ### 2019 James Arnold, Harrison Hanzlick, and Hyunglae Lee. 2019. “[Variable Damping Control of the Robotic Ankle Joint to Improve Trade-off Between Performance and Stability](/publications/variable-damping-control-robotic-ankle-joint-improve-trade-between-performance)”. In IEEE International Conference on Robotics and Automation, Pp. 1699-1704. Montreal, QC, Canada James Arnold, Harrison Hanzlick, and Hyunglae Lee. 2019. “[Variable Damping Control of the Robotic Ankle Joint to Improve Trade-off Between Performance and Stability](/publications/variable-damping-control-robotic-ankle-joint-improve-trade-between-performance)”. In IEEE International Conference on Robotics and Automation, Pp. 1699-1704. Montreal, QC, Canada - add\_circle\_outline do\_not\_disturb\_on Abstract - [ descriptionPublisher's Version](https://doi.org/10.1109/ICRA.2019.8793869) This paper presents a variable damping control strategy to improve trade-off between agility/performance and stability in the control of the ankle exoskeleton robot. Depending on the user's intent of movement, the proposed variable damping controller... - [ descriptionPublisher's Version](https://doi.org/10.1109/ICRA.2019.8793869) James Arnold, Eric Slovak, and Hyunglae Lee. 2019. “[Effects of Variable Damping-Defined Environments on Mediolateral Ankle Stability and Agility](/publications/effects-variable-damping-defined-environments-mediolateral-ankle-stability-and)” James Arnold, Eric Slovak, and Hyunglae Lee. 2019. “[Effects of Variable Damping-Defined Environments on Mediolateral Ankle Stability and Agility](/publications/effects-variable-damping-defined-environments-mediolateral-ankle-stability-and)” ### 2018 Harrison Hanzlick, James Arnold, and Hyunglae Lee. 2018. “[Effects of Fixed and Variable Damping Environments on Ankle Agility and Stability](/publications/effects-fixed-and-variable-damping-environments-ankle-agility-and-stability)” Harrison Hanzlick, James Arnold, and Hyunglae Lee. 2018. “[Effects of Fixed and Variable Damping Environments on Ankle Agility and Stability](/publications/effects-fixed-and-variable-damping-environments-ankle-agility-and-stability)”