Publications

Dissertation

“Towards Safe Autonomy in Assistive Robots.” (Patrick D. Holmes). Committee: Prof. Ram Vasudevan, Prof. Robert D. Gregg, Prof. Talia Y. Moore, Prof. Elliott Rouse. University of Michigan, Department of Mechanical Engineering, 2021.

“Predicting Sagittal-Plane Swing Hip Kinematics in Response to Trips.” (Shannon M. Danforth, Xinyi Liu, Martin J. Ward, Patrick D. Holmes, Ram Vasudevan), in IEEE Robotics and Automation Letters, 2022. Best RAL Paper Award at BioRob 2022 in Seoul, Korea.
“Characterizing the limits of human stability during motion: perturbative experiment validates a model-based approach for the Sit-to-Stand task.” (Patrick D. Holmes, Shannon M. Danforth, Xiao-Yu Fu, Talia Y. Moore, Ram Vasudevan), in Royal Society Open Science, 2020. Repo. Dataset.
“Stability basin estimates fall risk from observed kinematics, demonstrated on the Sit-to-Stand task.” (Victor Shia, Talia Yuki Moore, Patrick Holmes, Ruzena Bajcsy, Ram Vasudevan), in Journal of Biomechanics, 2018.

“Reachable Sets for Safe, Real-Time Manipulator Trajectory Design.” (Patrick Holmes, Shreyas Kousik, Bohao Zhang, Daphna Raz, Corina Barbalata, Matthew Johnson-Roberson, Ram Vasudevan), in Robotics: Science and Systems (RSS) 2020. Recording. Video. Bibtex.
“Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory Design.” (Shreyas Kousik, Patrick Holmes, Ram Vasudevan), in ASME Dynamic Systems and Control Conference (DSCC), 2019. Best Student Paper Award. Video.
“Convex estimation of the α-confidence reachable set for systems with parametric uncertainty.” (Patrick Holmes, Shreyas Kousik, Shankar Mohan, Ram Vasudevan), in IEEE Conference on Decision and Control (CDC), 2016.

“N-step reachability to characterize human mediolateral stability during perturbed walking.” (Patrick D. Holmes, Xiao-Yu Fu, Shannon M. Danforth, Talia Y. Moore, Ram Vasudevan), in Dynamic Walking, 2019 (poster presentation).
“Inverse Optimal Control with Sit-To-Stand Data.” (Shannon M. Danforth, Patrick D. Holmes, Ram Vasudevan), in Dynamic Walking, 2019.
“Perturbative Sit-to-Stand experiment for validating quantitative method of stability estimation.” (Patrick Holmes, Shannon Danforth, Talia Yuki Moore, Xiao-Yu Fu, Ram Vasudevan), in Dynamic Walking, 2018 and in World Congress of Biomechanics, 2018.
“Human Feedback Control to Maintain Trajectories of Task-Relevant Variables During Sit-to-Stand Motion” (Patrick Holmes, Shannon Danforth, Talia Yuki Moore, Xiao-Yu Fu, Ram Vasudevan), in Dynamic Walking, 2017.
“Direct perturbation on humans performing sit-to-stand motion reveals corrective feedback control strategy.” (Patrick Holmes, Victor Shia, Talia Yuki Moore, Ram Vasudevan), in Society for Integrative and Comparative Biology Annual Meeting, 2017.

“Trip Recovery in Lower-Limb Prostheses using Reachable Sets of Predicted Human Motion.” (Shannon M. Danforth, Patrick D. Holmes, Ram Vasudevan), arXiv preprint, 2020.
“Automated Camera-Based Estimation of Rehabilitation Criteria Following ACL Reconstruction.” (Choong Hee Kim, Shannon M. Danforth, Patrick Holmes, Daphna Raz, Darlene Yao, Asheesh Bedi, Ram Vasudevan), arXiv preprint, 2018.