Paul Pridham

• PhD Columbia University
• BS Johns Hopkins University

I am interested in understanding how design (mechanical, electrical, controller, interface) impacts the effectiveness of technology as it interacts with people. Particularly, I have explored this area with exoskeletons, both for rehabilitation and performance enhancement. Some example projects:

• Lower limb exoskeleton for stroke rehabilitation
• Torso exoskeleton for understanding scoliosis
• Human fluency with performance enhancing ankle exoskeleton
• Lower limb exoskeleton for people with cerebral palsy

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• This may be a list or a paragraph
• It is typically a list
• Format as you like, but be consistent across the site

• This may be a list or a paragraph
• It is typically a list
• Format as you like, but be consistent across the site

Journal

1. S. Gonzalez, P. Stegall, S.M. Cain, H.C. Siu, L. Stirling “Assessment of a powered ankle exoskeleton on human stability and balance.” Applied Ergonomics, 2022.

2. S. Gonzalez, P. Stegall, H. Edwards, L. Stirling, and H.C. Siu. “Ablation Analysis to Select Wearable Sensors for Classifying Standing, Walking, and Running,” Sensors, vol. 21, no. 1 pp. 194, 2021.

3. J.H. Park, P. Stegall, D.P. Roye, and S.K. Agrawal, ” Robotic Spine Exoskeleton (RoSE): Characterizing the Three-dimensional Stiffness of the Human Torso in the Treatment of Spine Deformity,” Neural Systems and Rehabilitation Engineering, IEEE Transactions on, 2018.

4. P. Stegall, D. Zanotto, and S.K. Agrawal. “Variable Damping Force Tunnel for Gait Training Using ALEX III,” Robotics and Automation Letters, IEEE, vol. 2, no. 3, pp. 1495-1501, 2017.

5. J.H. Park, P. Stegall, H. Zhang, and S.K. Agrawal, “Walking with a backpack using load distribution and dynamic load compensation reduces metabolic cost and adaptations to loads,” Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 25, no. 9, pp. 1419-1430, 2016.

6. J.H Park, P. Stegall, and S.K. Agrawal, “Reducing dynamic loads from a backpack during load carriage using an upper body assistive device,” Mechanisms and Robotics, ASME Journal of, vol. 8, no. 5, 2016.

7. D. Zanotto, Y. Akiyama, P. Stegall, and S. K. Agrawal, “Knee joint misalignment in exoskeletons for the lower extremities: Effects on user’s gait,” Robotics, IEEE Transactions on, vol. 31, no. 4, pp. 978–987, 2015.

8. S. Srivastava, P.-C. Kao, S. Kim, P. Stegall, D. Zanotto, J. Higginson, S. Agrawal, and J. Scholz, “Assist-as-needed robot-aided gait training improves walking function in individuals following stroke,” Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 23, pp. 956–963, Nov 2015.

9. P. Stegall, K. Winfree, D. Zanotto, and S. K. Agrawal, “Rehabilitation exoskeleton design: Exploring the effect of the anterior lunge degree of freedom,” Robotics, IEEE Transactions on, vol. 29, no. 4, pp. 838–846, 2013.

10. D. Zanotto, G. Rosati, S. Spagnol, P. Stegall, and S. K. Agrawal, “Effects of complementary auditory feedback in robot-assisted lower extremity motor adaptation,” Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 21, no. 5, pp. 775–786, 2013.

Conference

1. J. Sloboda, P. Stegall, R.J. McKindles, L. Stirling, H.C. Siu “Utility of Inter-subject Transfer Learning for Wearable-Sensor-Based Joint Torque Prediction Models,” In 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 4901-4907. IEEE, 2021

2. E.J. Park, J. Kang, H. Su, P. Stegall, D. L Miranda, W. Hsu, M. Karabas, N. Phipps, S. K Agrawal, E. C Goldfield, C. J Walsh “Design and preliminary evaluation of a multi-robotic system with pelvic and hip assistance for pediatric gait rehabilitation,” in Rehabilitation Robotics (ICORR), 2017 IEEE International Conference on, pp. 332-339, IEEE, 2017.

3. J.H. Park, P. Stegall, S.K. Agrawal, S. Yarlagadda, J. Tierney, S. Sharma, J. Gillespie, “Wearable Upper Body Suit for Assisting Human Load Carriage,” International Design Engineering Technical Conferences (IDETC), The ASME 2015 (Best Paper Award Honorable Mention)

4. Z. Sheng, J.H Park, P. Stegall, S.K. Agrawal, “Analytic Determination of Wrench Closure Workspace of Spatial Cable Driven Parallel Mechanisms,” International Design Engineering Technical Conferences (IDETC), The ASME 2015

5. J.-H. Park, P. Stegall, and S. K. Agrawal, “Dynamic brace for correction of abnormal postures of the human spine,” in Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 5922–5927, IEEE, 2015.

6. J.-H. Park, D. Zanotto, V. Vashista, X. Jin, P. Stegall, and S. K. Agrawal, “Second spine: A device to relieve stresses on the upper body during loaded walking,” in Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on, pp. 689–694, IEEE, 2014.

7. V. Youssofzadeh, D. Zanotto, P. Stegall, M. Naeem, K. Wong-Lin, S. K. Agrawal, and G. Prasad, “Directed neural connectivity changes in robot-assisted gait training: A partial granger causality analysis,” in Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE, pp. 6361–6364, IEEE, 2014.

8. D. Zanotto, P. Stegall, and S. K. Agrawal, “Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training,” in Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 724–729, IEEE, 2014.

9. J.-H. Park, P. Stegall, D. Zanotto, V. Vashista, X. Jin, and S. K. Agrawal, “Design of the second spine: A secondary pathway to transfer loads from the shoulders to the pelvis,” in ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. V06BT07A008–V06BT07A008, American Society of Mechanical Engineers, 2013.

10. D. Zanotto, T. Lenzi, P. Stegall, and S. K. Agrawal, “Improving transparency of powered exoskeletons using force/torque sensors on the supporting cuffs,” in Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on, pp. 1–6, IEEE, 2013.

11. D. Zanotto, P. Stegall, and S. K. Agrawal, “Alex III: A novel robotic platform with 12 dofs for human gait training,” in Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp. 3914–3919, IEEE, 2013.

12. T. Lenzi, D. Zanotto, P. Stegall, M. Carrozza, and S. K. Agrawal, “Reducing muscle effort in walking through powered exoskeletons,” in Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE, pp. 3926–3929, IEEE, 2012.

13. P. Stegall, K. N. Winfree, and S. K. Agrawal, “Degrees-of-freedom of a robotic exoskeleton and human adaptation to new gait templates,” in Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp. 4986–4991, IEEE, 2012.

14. D. Zanotto, G. Rosati, F. Avanzini, P. Stegall, and S. K. Agrawal, “Robot-assisted gait training with complementary auditory feedback: results on short-term motor adaptation,” in Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on, pp. 1388–1393, IEEE, 2012.

15. K. N. Winfree, P. Stegall, and S. K. Agrawal, “Design of a minimally constraining, passively supported gait training exoskeleton: Alex II,” in Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on, pp. 1–6, IEEE, 2011.

Patents

S. K. Agrawal, J.H. Park, P. Stegall, “Spinal treatment device, methods, and systems,” May 5 2020. US Patent US10639185B2.

S. K. Agrawal, D. Zanotto, P. Stegall, “Active movement training devices, methods, and systems,” April 21 2014. US Patent US9662526B2.

S. K. Agrawal, K. N. Winfree, P. Stegall, and J. P. Scholz, “Powered orthosis systems and methods,” Aug. 19 2010. US Patent US8771208B2.