Publications

Google Scholar

2026

• Joo, Hyeonseo, Tianhao Yu, Yumin Dai, et al. “Ion‐Pair‐Tuned Ionogels for Broad‐Range Linear Pressure Sensing.” Advanced Science, March 12, 2026, e24195. https://doi.org/10.1002/advs.202524195.

2025

• Yu, Tianhao, Axel González Cornejo, Ziheng Wang, et al. “Ultrawide-Range Wearable Pressure Sensors for High-Load Prosthetic Interfaces.” ACS Nano, December 21, 2025, acsnano.5c18106. https://doi.org/10.1021/acsnano.5c18106.
• Alizadeh Noghani, Mohsen, Sebastian Green, and Edgar Bolívar-Nieto. “Whole-Body Optical Marker and Ground Reaction Force Data of Healthy Humans Performing Non-Cyclic Activities.” Scientific Data 12, no. 1 (2025): 1971. https://doi.org/10.1038/s41597-025-06227-7.
• Alizadeh Noghani, Mohsen, and Edgar Bolívar-Nieto. “Predicting Center of Mass Position in Non-Cyclic Activities: The Influence of Acceleration, Prediction Horizon, and Ground Reaction Forces.” Journal of Biomechanics 191 (October 2025): 112916. https://doi.org/10.1016/j.jbiomech.2025.112916.
• Alizadeh Noghani, Mohsen, Jingshu Peng, and Edgar Bolívar-Nieto. “Center of Mass Estimation during Non-Cyclic Activities: Comparison of Marker-Based Methods and Their Fusion with Ground Reaction Forces.” Journal of Biomechanics 186 (June 2025): 112713. https://doi.org/10.1016/j.jbiomech.2025.112713.
• K. Yang, M. Dickens, J. Schmiedeler, and E. Bolívar-Nieto, “Extending the Benefits of Parallel Elasticity across Multiple Actuation Tasks: A Geometric and Optimization-Based Approach,” IEEE/ASME Transactions on Mechatronics, May 2025, Published (early access), doi: 10.1109/TMECH.2025.3583658.

2024

• Alizadeh Noghani, Mohsen, and Edgar Bolívar-Nieto. “Prediction of Whole-Body Center of Mass Using Joint Angles and Ground Reaction Forces: A Framework for Human Intent Prediction.” In 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 1095–1100. Heidelberg, Germany: IEEE, 2024. https://doi.org/10.1109/BioRob60516.2024.10719954.

2022

• S. Cheng, E. Bolivar-Nieto, C. Gonzalez Welker, and R. D. Gregg. “Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing,” IEEE Transactions on Medical Robotics and Bionics 4, no. 3 (August 2022): 840–51.
• S. Guo, R.D. Gregg, and E. A. Bolívar-Nieto, "Convex Optimization for Spring Design of Parallel Elastic Actuators," American Control Conference, 2022.
• R. Cortino, E. A. Bolívar-Nieto, T. K. Best,  and R. D. Gregg, "Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis," IEEE ICRA, 2022.

2016-2021

• E. A. Bolívar Nieto, G. C. Thomas, E. Rouse, and R. D. Gregg, “Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice,” in IEEE International Conference on Robotics and Automation, 2021.
• E. A. Bolívar-Nieto, T. Summers, R. D. Gregg, and S. Rezazadeh, “A convex optimization framework for robust-feasible series elastic actuators,” Mechatronics, vol. 79, p. 102635, Nov. 2021.
• E. Reznick, K. R. Embry, R. Neuman, E. Bolívar-Nieto, N. P. Fey, and R. D. Gregg, “Lower-limb kinematics and kinetics during continuously varying human locomotion,” Sci. Data, vol. 8, no. 1, p. 282, Dec. 2021.
• S. Cheng, E. Bolivar-Nieto, and R. D. Gregg, “Real-Time Activity Recognition With Instantaneous Characteristic Features of Thigh Kinematics,” IEEE Trans. Neural Syst. Rehabil. Eng., vol. 29, pp. 1827–1837, 2021.
• D. Raz, E. Bolívar-Nieto, N. Ozay, and R. D. Gregg, “Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis,” in IEEE Conference on Control Technology and Applications, 2021.
• S. Kumar, M. Zwall, E. Bolivar-Nieto, R. D. Gregg, and N. Gans, “Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton,” IEEE Robot. Autom. Lett., pp. 1–1, 2020.
• E. A. Bolivar Nieto, S. Rezazadeh, and R. D. Gregg, “Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: A Convex Optimization Framework for Elastic Element Design,” IEEE/ASME Trans. Mechatronics, vol. 24, no. 3, pp. 1334–1345, Jun. 2019.
• D. P. Allen, E. Bolívar, S. Farmer, W. Voit, and R. D. Gregg, “Mechanical Simplification of Variable-Stiffness Actuators Using Dielectric Elastomer Transducers,” Actuators, vol. 8, no. 2, p. 44, May 2019.
• E. Bolivar, S. Rezazadeh, T. Summers, and R. D. Gregg, “Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle,” in 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019, pp. 740–747.
• E. Bolívar, S. Rezazadeh, and R. Gregg, “A General Framework for Minimizing Energy Consumption of Series Elastic Actuators With Regeneration,” in ASME Dyn. Syst. Control Conf., 2017, pp. 1–10. Best Robotics Student Paper Award.
• E. Bolivar, D. Allen, G. Ellson, J. Cossio, W. Voit, and R. Gregg, “Towards a series elastic actuator with electrically modulated stiffness for Powered Ankle-Foot Orthoses,” in 2016 IEEE International Conference on Automation Science and Engineering (CASE), 2016, pp. 1086–1093.

Patents

• R. D. Gregg, E. A. Bolívar, D. P. Allen, and W. E. Voit, “Variable Stiffness Actuator With Electrically Modulated Stiffness,” US 2021/0129323, 2021.