Steven Collins-Mechanical Engineering - Carnegie Mellon University

Steven Collins

Assistant Professor, Mechanical Engineering

Courtesy Appointment, Robotics Institute

Carnegie Mellon University
Mechanical Engineering
Scaife Hall 316
5000 Forbes Avenue
Pittsburgh, PA 15213
Phone: 412-268-5222
Fax: 412-268-3348
Office Hours: 12:00-2:00, Tuesday and Thursday


Professor Collins uses a combination of mathematical models, experimental robots and biomechanics experiments to aid the design of biomechatronic devices for human rehabilitation, assistance, and augmentation. He collaborates with clinicians, medical doctors, and entrepreneurs to find opportunities for research with immediate applications. Professor Collins aims to design medical devices that will interface with patients to enhance their efficiency, stability, and overall performance in the essential biomechanics tasks of daily life. He believes we can not only restore performance, but enable persons with disabilities to outperform their able-bodied counterparts.


B.S. 2002, Cornell University
M.S. 2004, Ph.D. 2008, University of Michigan
Post-doc, T.U. Delft

Selected Publications and Proceedings

  • Caputo, J. M., Collins, S. H. (2013) An experimental robotic testbed for accelerated development of ankle prostheses. In Proc. IEEE International Conference on Robotics and Automation, Karlsruhe, Germany. 
  • Wiggin, M. B, Sawicki, G. S., and Collins. S. H. (2011) An exoskeleton using controlled energy storage and release to aid ankle propulsion. In Proceedings of the International Conference on Rehabilitation Robotics, pages 1-5.
  • Collins, S. H., Kuo, A. D. (2010) Recycling energy to restore impaired ankle function during human walking. Public Library of Science ONE, 5, e9307.
  • Collins, S. H., Adamczyk, P. G., Kuo, A. D. (2009) Dynamic arm swinging in human walking. Proceedings of the Royal Society of London B., 276, 3679-3688.
  • Collins, S. H., Ruina, A. L., Tedrake, R., Wisse, M. (2005) Efficient bipedal robots based on passive-dynamic walkers. Science, 307, 1082-1085.
  • Collins, S. H., Ruina, A. (2005) A bipedal walking robot with efficient and human-like gait. In Proc. IEEE International Conference on Robotics & Automation, Barcelona, Spain, 1983-1988.
  • Pratt, J. E., Krupp, B. T., Morse, C. J., Collins, S. H. (2004) The RoboKnee: an exoskeleton for enhancing strength and endurance during walking. In Proc. IEEE International Conference on Robotics and Automation, New Orleans, LA, 2430-2435.
  • Collins, S. H., Wisse, M., Ruina, A. (2001) A three-dimensional passive-dynamic walking robot with two legs and knees. International Journal of Robotics Research, 20, 607-615.