Publications

Selected Publications:

IEEE Transactions on Biomedical Engineering Cover showing an individual with amputation wearing a wrist exoskeleton

C. G. Welker, V. L. Chiu, A. S. Voloshina, S. H. Collins and A. M. Okamura, "Teleoperation of an Ankle-Foot Prosthesis With a Wrist Exoskeleton," inIEEE Transactions on Biomedical Engineering, vol. 68, no. 5, pp. 1714-1725, May 2021, doi: 10.1109/TBME.2020.3046357.

Journal of Experimental Biology showing a runner wearing an exotendon

C.S. Simpson, C.G. Welker, S. D. Uhlrich, S.M. Sketch, R.W. Jackson, S.L. Delp, S.H. Collins, J.C. Selinger, E.W. Hawkes, "Connecting the legs with a spring improves human running economy," in Journal of Experimental Biology, vol. 222, no. 17, Sept 2019, doi:10.1242/jeb.202895.

Additional Journal Publications:

(Refer here for the most updated page)

M. Schneider, Z. A. Colvin, A. M. Grabowski, and C. G. Welker, “Modeling the biomechanical features affecting the metabolic rate of walking with a powered ankle-foot prosthesis,” Frontiers in Robotics and AI, vol. Volume 12-2025, 2026, doi: .
C. G. Welker, T. K. Best and R. D. Gregg, "Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis," inIEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 31, pp. 4146-4155, 2023, doi: 10.1109/TNSRE.2023.3320692.

T. K. Best, C. G. Welker, E. J. Rouse and R. D. Gregg, "Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking," inIEEE Transactions on Robotics, vol. 39, no. 3, pp. 2151-2169, June 2023, doi: 10.1109/TRO.2022.3226887.

C. G. Welker, S. H. Collins and A. M. Okamura, "Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement," inIEEE Transactions on Haptics, vol. 15, no. 4, pp. 741-752, 1 Oct.-Dec. 2022, doi: 10.1109/TOH.2022.3219031.

S. Cheng, E. Bolívar-Nieto, C. G. Welker and R. D. Gregg, "Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing," inIEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 3, pp. 840-851, Aug. 2022, doi: 10.1109/TMRB.2022.3185405.

E. Reznick, C. G. Welker and R. D. Gregg, "Predicting Individualized Joint Kinematics Over Continuous Variations of Walking, Running, and Stair Climbing," inIEEE Open Journal of Engineering in Medicine and Biology, vol. 3, pp. 211-217, 2022, doi: 10.1109/OJEMB.2023.3234431.

C. G. Welker, A. S. Voloshina, V. L. Chiu, and S. H. Collins. "Shortcomings of Human-in-the-loop Optimization of an Ankle-foot Prosthesis Emulator: a Case Series," in Royal Society Open Science, doi:10.1098/rsos.202020.

Conference Proceedings:

O. Felton, J. O'Day, G. Burleson, and C. G. Welker. "Applying design thinking principles to support resiliency in engineering graduate students". 2026 ASEE Annual Conference & Exposition, Charlotte, North Carolina, 2026, June. ASEE Conferences, 2026. https://peer.asee.org/58868 Internet. 17 Sep, 2026

K. Waters, B. Zou, T. K. Best, R. D. Gregg, and C. G. Welker, “Investigating Kinematic and Kinetic Asymmetries During Sit/Stand Movements with a Powered Knee-Ankle Prosthesis: A Pilot Study,” in 2025 International Conference On Rehabilitation Robotics (ICORR), May 2025, pp. 1388–1395. doi: 10.1109/ICORR66766.2025.11062956.

O. Felton, C. Healy, D. Phair, A. Ahmed, and C. G. Welker, “Running with an Exotendon can Reduce Metabolic Rate Across a Range of Speeds,” in 2025 International Conference On Rehabilitation Robotics (ICORR), May 2025, pp. 724–729. doi: 10.1109/ICORR66766.2025.11063084.

C. G. Welker, T. K. Best and R. D. Gregg, "Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning,"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 9660-9667, doi: 10.1109/IROS47612.2022.9982037.
C. G. Welker, S. H. Collins and A. M. Okamura, "Human Perception of Wrist Torque Magnitude During Upper and Lower Extremity Movement,"2021 IEEE World Haptics Conference (WHC), Montreal, QC, Canada, 2021, pp. 870-870, doi: 10.1109/WHC49131.2021.9517214.

**Bold = Current or former Welker Lab member