Robert L. McGrath
Papers
11
Total Citations
112
H-Index
6
About
Robert L. McGrath is a biomedical engineer and robotics researcher whose work sits at the intersection of biomechanics, rehabilitation engineering, and human-robot interaction. His research focuses primarily on robot-assisted gait training, with a particular emphasis on developing intelligent control strategies for lower extremity exoskeletons designed to restore walking function following neurological injury. McGrath has made significant contributions to understanding how gait parameters—such as stride length and walking speed—influence lower extremity joint kinetics and torques, foundational knowledge essential for programming effective rehabilitation controllers. His most-cited work (50 citations) investigates how stride length affects joint kinetics across varying speeds, directly informing goal-oriented robotic training paradigms. A recurring theme across his portfolio is the targeted application of torque pulses to the hip and knee during stance to enhance propulsion, a clinically meaningful outcome linked to walking speed recovery. More recently, McGrath has advanced exoskeleton control theory by developing repetitive control algorithms that improve force tracking and transparency during quasi-periodic human-robot interaction—work that bridges theoretical control engineering with practical rehabilitation applications. With a body of research accumulating over 100 citations, McGrath represents an emerging voice in translational robotics, working to close the gap between biomechanical insight and clinically deployable assistive technologies.
Research Focus
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