Gait Control Identification

During my post doc at Cleveland State University, I worked with Ton van den Bogert and developed methods to identify the human's controller during gait. We developed both direct and indirect identification methods and methods for identifying a gain gait scheduled controller for planar walking. The motivation was to develop a controller that could possibly be used in powered lower extremity prostheses, such as an exoskeleton.


yeadon is a software package that implements Fred Yeadon's popular method for estimating the body segment parameters of a human. The package can be used as library, as in BicycleParameters, or as a standalone GUI application.

Mobile Ministry Unit

American made Indian influenced cargo rickshaw.

Human Control of a Bicycle

My graduate work at UC Davis was rounded out with a project that focused on identifying the control actions employed by a human during simple bicycle maneuvers. I constructed an instrumented bicycle and collected a great deal of data during a series of experiments in which the rider attempted to balance a bicycle under the influence of lateral perturbations. This data was then used to identify both a plant and control model of the underlying system and validate our hypotheses about the rider's control structure.


PyDy is a general tool for mutlibody dynamic analysis written in Python.

Motion Analysis of a Bicyclist

We measured the kinematics of a bicycle and rider during typical riding maneuvers on a treadmill using motion capture technologies. Our main findings came from analyzing the data using principal component analysis to characterize the dominant motions in control.

Cell Shearer

Biomedical blood cell shearing device machine design.

Human Power

I have an interest in the appropriate use of human power for various tasks.

Pedal Desk

The pedal powered laptop charging station and energy demonstration device.


Appropriate technologies for the disabled in Zambia.

Bicycle and Rider Physical Parameters

To accurately model the bicycle and rider system, the basic physical parameters of the bicycle and the rider must be measured or estimated. These parameters include the geometry, mass, mass locations, and mass distribution of all the bodies in the system at the most basic level and but may include any other constants such as frictional coefficients, damping constants, etc. Starting at TU Delft with Jodi Kooijman's tools and methods, I refined a technique for measuring both the bicycle and rider's basic parameters.

Langley Full Scale Tunnel

Work at the Langley full scale tunnel.

ODU Maglev

CAD modeling of an innovative Maglev train.

ODU Human Powered Vehicle

ODU human powered vehicle senior design project.

Bauer Compressors

CAD modeling and machine design internship at Bauer Compressors in Norfolk, VA.