Assistant Professor, Mechanical Engineering
Courtesy Appointment, Robotics Institute
Carnegie Mellon University
Scaife Hall 316
5000 Forbes Avenue
Pittsburgh, PA 15213
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.
Professor Collins’ recent design of an energy-saving prosthetic foot is representative of this approach. First, a dynamical model was used to gain insight into the basic energetics of walking. An experimental robot was then built to illustrate these concepts, demonstrating the most energy-efficient gait to date. An artificial foot was then designed to perform the same function as the robotic ankle, but with novel actuation that required an order of magnitude less electricity. Finally, the effects of the device were tested in controlled biomechanics experiments, showing that metabolic energy costs could be reduced with this “energy recycling” prosthesis.
Other recent projects include the design of a power-enhancing exoskeleton, a study of the role of the arms in walking, and studies of the dynamics that result from gait impairments such as cerebral palsy, multiple sclerosis, and stroke. Professor Collins 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 PublicationsCollins, 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., 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.
Van der Krogt, M. M., Bregman, D. J. J., Wisse, M., Doorenbosch, C. A. M., Harlaar, J., Collins, S. H. (2010) How crouch gait can dynamically induce stiff-knee gait. Annals of Biomedical Engineering, in press.
Collins, S. H., Adamczyk, P. G., Ferris, D. P., Kuo, A. D. (2009) A simple method for calibrating force plates and force treadmills using an instrumented pole. Gait & Posture, 29, 59-64.
Vanderpool, M. T., Collins, S. H., Kuo, A. D. (2008) Ankle fixation need not increase the energetic cost of human walking. Gait & Posture, 28, 427-433.
Adamczyk, P. G., Collins, S. H., Kuo, A. D. (2006) The advantages of a rolling foot in human walking. Journal of Experimental Biology, 209, 3953-3963.
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.