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David Braun

Assistant Professor of Mechanical Engineering


Mechanical Engineering


Intellectual Neighborhoods

Research Focus

Robotics, optimal control, system dynamics, impedance control, variable impedance actuators, human augmentation, superhuman actuation and augmentation technology


Projects:

  • Novel actuators for robots and human performance augmentation
  • Data-driven optimal control for robots and human augmentation
  • Superhuman augmentation technology 


Selected Publications:

  • E.S. Altinkaynak, G. Roig, and D.J. Braun, Multiphase and Multivariable Linear Controllers that Account for the Joint Torques in Normal Human Walking, IEEE Transactions on Biomedical Engineering, 2019 (accepted).
  • D.J. Braun, V. Chalvet, Chong T.-H., S.S. Apte and N. Hogan, Variable Stiffness Spring Actuators for Low Energy Cost Stiffness Modulation, IEEE Transactions on Robotics, 2019 (accepted).
  • Y. Chen and D.J. Braun, Hardware-in-the-Loop Iterative Optimal Feedback Control without Model-based Future Prediction, IEEE Transactions on Robotics, 2019 (accepted).
  • A. Sutrisno and D.J. Braun, Enhancing Mobility with Quasi-passive Variable Stiffness Exoskeletons, IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 27, no. 3, pp. 487-496, 2019.
  • D.J. Braun, V. Chalvet and A. Dahiya, Positive-Negative Stiffness Actuators, IEEE Transactions on Robotics, vol. 35, no. 1, pp. 162-173, 2019.
  • F. A. Yaghmaie and D.J. Braun, Reinforcement Learning for a Class of Continuous-time Input Constrained Optimal Control Problems, Automatica, vol. 99, pp. 221-227, 2019.
  • D.J. Braun, F. Petit, F. Huber, S. Haddadin, P. van der Smagt, A. Albu-Schaffer and S. Vijayakumar, Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints, IEEE Transactions on Robotics, vol. 29, no. 5, pp. 1085-1101, 2013.