• Assistant Professor, Mechanical Engineering
Gray Thomas

Educational Background

  • Ph.D., Mechanical Engineering, University of Texas at Austin — 2019
  • B.S., Engineering: Robotics, Olin College of Engineering — 2012

Research Interests

    • Wearable Robotics
    • System Identification
    • Torque-Controlled Actuation
    • Robust Nonlinear Control
    • Human Modeling
    • Strength Amplification

Selected Publications

  • G. C. Thomas, O. Campbell IV, N. Nichols, N. Brissonneau, B. He, J. James, N. Paine, and L. Sentis, "Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons," Frontiers in Robotics and AI, vol. 8, pp. 295, Sept. 2021. [pdf] [Frontiers]
  • R. L. Medrano, E. Rouse, G. C. Thomas, "Biological Joint Loading and Exoskeleton Design," IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 3, pp. 847-851, Aug. 2021. [IEEE] [pdf] [CodeOcean]
  • G. C. Thomas, J. Mehling, J. Holley, and L. Sentis, "Phase-Relaxed-Passive Full State Feedback Gain Limits for Series Elastic Actuators," IEEE/ASME Transactions on Mechatronics, vo. 26, no. 1, pp. 586-591, Feb. 2021. [IEEE] [pdf]
  • R. L. Medrano, G. C. Thomas, C. G. Keais, E. Rouse, R. D. Gregg, “Real-Time Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain,” IEEE Transactions on Robotics, vol. 39, no. 3, pp. 2170-2182, June 2023, doi: 10.1109/TRO.2023.3235584. [IEEE] [YouTube] [ArXiv]
  • G. C. Thomas, J. M. Coholich, and L. Sentis, "Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs," presented at The IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Hong Kong, China, 2019 [IEEE] [ArXiv]