Biorobotics Lab
 
Biorobotics Lab
Gabriel Aguirre Ollinger

Gabriel Aguirre Ollinger

Research Fellow

Gabriel received a Bachelor’s degree in Electromechanical Engineering from Universidad Panamericana, Mexico City, in 1990. He worked as a design and process engineer for the automotive industry in Mexico, and was instructor in undergraduate mechanics. He received an M.S. from Carnegie Mellon University in 2001, and worked as researcher in mechatronics, design and manufacturing at Universidad Panamericana, 2001-2003. He received a Ph.D. in Mechanical Engineering from Northwestern University, Evanston, IL, in 2009. Gabriel was a Lecturer at the University of Technology, Sydney (UTS) with a research appointment at the UTS Centre for Autonomous Systems. Gabriel’s research interests include robotics for human mobility assistance and rehabilitation, control theory, dynamics of bipedal walking, physical human-robot interaction, and manipulator programming by demonstration. He joined the Department of Biomedical Engineering in 2016.

Publications

Journal Papers

  1. Nagarajan, U., Aguirre-Ollinger, G. and Goswami, A., “Integral admittance shaping: A unified framework for active exoskeleton control,” Robotics and Autonomous Systems, 75-B, pp. 310-324, 2016, doi: 10.1016/j.robot.2015.09.015
  2. Aguirre-Ollinger, G., Nagarajan, U. and Goswami, A., “An admittance shaping controller for exoskeleton assistance of the lower extremities,” Autonomous Robots, 40(4), pp. 701- 728, 2016, doi: 10.1007/s10514-015-9490-8
  3. Aguirre-Ollinger, G., “Exoskeleton control for lower-extremity assistance based on adaptive frequency oscillators: Adaptation of muscle activation and movement frequency,” Proc. Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol. 229, no. 1, pp. 52-68, 2015
  4. Aguirre-Ollinger, G., “Globally stable control of a dynamic bipedal walker using adaptive frequency oscillators,” Robotica, vol. 32, no. 7, pp. 1039-1063, 2014
  5. Aguirre-Ollinger, G., Colgate, J., Peshkin, M., and Goswami, A., “Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments,”Transactions on Neural Systems & Rehabilitation Engineering, 20(1), 2012
  6. Aguirre-Ollinger, G., Colgate, J., Peshkin, M., and Goswami, A., “Design of an active one- degree-of-freedom lower-limb exoskeleton with inertia compensation,” The International Journal of Robotics Research, 30(4), 2011
  7. Aguirre-Ollinger, G., Colgate, J., Peshkin, M., and Goswami, A., “A one-degree-of-freedom assistive exoskeleton with inertia compensation: Effects on the agility of leg swing motion,” Proceedings of the Institution of Mechanical Engineers, Part H, Journal of Engineering in Medicine, 225(3), 2011
  8. Aguirre-Ollinger, G., Stahovich, T. F., “RedesignIT – A Model-Based Tool for Managing Design Changes,” ASME Journal of Mechanical Design, Vol. 126, No. 2, pp. 208-216, March 2004

Conference Papers

  1. Nagarajan, U. , Aguirre-Ollinger, G. and Goswami, A., “Integral admittance shaping for exoskeleton control,” Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 5641-5648, May 2015
  2. Aguirre-Ollinger, G., “Learning muscle activation patterns via nonlinear oscillators: application to lower-limb assistance,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013 Aguirre-Ollinger,G., Colgate, E., Peshkin,M.,Goswami, A., “A 1-DOFAssistive Exoskeleton with Virtual Negative Damping: Effects on the Kinematic Response of the Lower Limbs,” International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, 2007
  3. Aguirre-Ollinger, G., Colgate, E., Peshkin, M., Goswami, A., “Active-Impedance Control of a Lower-Limb Assistive Exoskeleton,” International Conference on Rehabilitation Robotics (ICORR), the Netherlands, 2007
  4. Aguirre, G., Acevedo, M., Carbone, G., Ottaviano, E., “Kinematic and Dynamic Analyses of a 3-DOF Parallel Manipulator by Symbolic Formulations,” Proceedings of ECCOMAS Multibody Dynamics, Lisbon, 2003
  5. Acevedo, M., Aguirre, G., Carbone, G., Ottaviano E.„ “A Dynamics Simulation of a 3-DOF Parallel Manipulator,” 11th World Congress in Mechanism and Machine Science IFToMM 03, Tianjin, China, Vol.4, 2004
  6. Aguirre, G., Stahovich, T., “RedesignIT – A Constraint-Based Tool for Managing Design Changes,” Proceedings of theASMEDesign Engineering Technical Conferences, Pittsburgh, PA, 2001

Patents Awarded

  1. U.S. Patent: “Controller for an Assistive Exoskeleton Based on Active Impedance” (Patent No. US 7,731,670 B2, awarded 06/08/2010). Co-inventors: Ambarish Goswami (Honda Research Institute, USA), J. Edward Colgate and Michael A. Peshkin (Northwestern University)

Patents Publications

  1. U.S. Patent: “Admittance Shaping Controller for Exoskeleton Assistance of the Lower Extremities” (U.S. Serial No.: 14/750,657, filed 06/25/2015). Co-inventors: Umashankar Nagarajan (Google, Inc.) and Ambarish Goswami (Honda Research Institute, USA)
  2. U.S. Patent: “Integral Admittance Shaping: a Novel Exoskeleton Control Design Framework” (U.S. Serial No.: 62/037,773, filed 8/15/2014). Co-inventors: Umashankar Nagarajan and Ambarish Goswami

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