Pitt | Swanson Engineering
Prof. Nitin Sharma
Mechanical Engineering & Materials Science, Bioengineering Department
Sharma, Nitin
Faculty
Assistant Professor
Office: 538C Benedum Hall
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Postdoctoral Fellow in Walking rehabilitation, University of Alberta, 2012

PhD in Mechanical Engineering, University of Florida, 2010

M.S. in Mechanical Engineering, University of Florida, 2008

B.E. in Industrial Engineering, Thapar University, 2004

Derivation of robust nonlinear control algorithms and optimal control algorithms.  Goal is to restore standing and walking function in persons with spinal cord injury.

 

(2011) Alberta Innovates Health Solutions Fellowship Award.

(2011) MAE Department Best Dissertation Award.

(2010) Best Presentation in Session Award at the American Control Conference, Baltimore, MD.

(2009) Best Student Paper Award in Robotics.

(2009) O. Hugo Schuck Award.

(2008) Finalist for Best Student Paper Award at the IEEE Multi-Conference on Systems andControl, San Antonio, Texas.

Bao, X., Kirsch, N., and Sharma, N., 2016, "Dynamic Control Allocation of a Feedback Linearized Hybrid Neuroprosthetic System," To appear in American Control Conference.

Qui, T., Alibeji, N., and Sharma, N., 2016, "Robust Compensation of Electromechanical Delay During Neuromuscular Electrical Stimulation of Antagonistic Muscles," To appear in American Control Conference.

Alibeji, N., Kirsch, N., and Sharma, N., 2015, "Dynamic Surface Control of Neuromuscular Electrical Stimulation of a Musculoskeletal System with Activation Dynamics and an Input Delay," To appear in American Control Conference.

Kirsch, N., Alibeji, N., and Sharma, N., 2013, "Optimized Control of Different Actuation Strategies for FES and Orthosis aided Gait," To appear in ASME Dynamic Systems and Control Conference.

Wang, Q., Sharma, N., Johnson, M., Gregory, C.M., and Dixon, W.E., 2013, "Adaptive Inverse Optimal Neuromuscular Electrical Stimulation.," IEEE transactions on cybernetics, vol.43, no.6, pp. 1710-1718.

Alibeji, N., and Sharma, N., "A PID-type Robust Input Delay Compensation Method for Uncertain Euler-Lagrange Systems," IEEE Transactions on Control Systems Technology, Manuscript submitted for publication.

Alibeji, N., Kirsch, N., and Sharma, N., "An Adaptive Low-Dimensional Control to Compensate for Effector Redundancy and FES-Induced Muscle Fatigue in a Hybrid Neuroprosthesis," Control Engineering Practice, Manuscript submitted for publication.

Kirsch, N., Alibeji, N., and Sharma, N., In press, "Nonlinear Model Predictive Control of Functional Electrical Stimulation," Control Engineering Practice.

Kirsch, N., Alibeji, N., Dixon, W., and Sharma, N., "A Nonlinear Control Method to Compensate for Muscle Fatigue during Neuromuscular Electrical Stimulation," IEEE Transactions on Control Systems Technology, Manuscript submitted for publication.

Kirsch, N., Alibeji, N., Redfern, M., and Sharma, N., "Dynamic Optimization of A Hybrid Gait Neuroprosthesis to Improve Efficiency and Walking Duration: A Simulation Study," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Manuscript submitted for publication.

Qui, T., Alibeji, N., and Sharma, N., "Switching Control of Functional Electrical Stimulation and Motor Assist for Muscle Fatigue Compensation," To appear in American Control Conference.

Alibeji, N., and Kirsch, N., 2015, "A Muscle Synergy-inspired Adaptive Control Scheme for a Hybrid Walking Neuroprosthesis," Frontiers in Bioengineering and Biotechnology, section Bionics and Biomimetics, vol.3, no.203.

Alibeji, N., Kirsch, N., and Sharma, N., 2015, "An Adaptive Low-Dimensional Control for a Hybrid Neuroprosthesis," 9th IFAC Symposium on Biological and Medical Systems, Berlin, Germany.

Alibeji, N., Kirsch, N., and Sharma, N., 2015, "Further Results on Predictor-based Control of Neuromuscular Electrical Stimulation," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.23, no.6, pp. 1095-1105.

Doll, B., Kirsch, N., and Sharma, N., 2015, "Optimization of a Stimulation Train based on a Predictive Model of Muscle Force and Fatigue," 9th IFAC Symposium on Biological and Medical Systems, Berlin, Germany.

Kirsch, N., Alibeji, N., and Sharma, N., 2015, "Nonlinear Model Predictive Control of Functional Electrical Stimulation," ASME Dynamic Systems and Control Conference, Columbus, Ohio.

Sharma, N., Mushahwar, V., and Stein, R., 2014, "Dynamic Optimization of FES and Orthosis-based Walking using Simple Models,," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.22, no.1, pp. 114-126.

Fischer, N., Dani, A., Sharma, N., and Dixon, W.E., 2013, "Saturated Control of an UncertainNonlinear System with Input Delay," Automatica, vol.49, no.6, pp. 1741-1747.

Wang, Q., Sharma, N., Johnson, M., Gregory, C.M., and Dixon, W.E., 2013, "Adaptive InverseOptimal Neuromuscular Electrical Stimulation," IEEE Transactions on Cybernetics, vol.43, no.6, pp. 1710-1718.

Sharma, N., 2012, "Predictor-based Compensation for Electromechanical Delay during Neuromuscular ElectricalStimulation-II," American Control Conference, pp. 5604-5609, Montreal, QC.

Sharma, N., and Stein, R., 2012, "Gait Planning and Double Support Phase Model for Functional Electrical Stimulation-based Walking.," in the conference proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 1904-7.

Sharma, N., Bhasin, S., Wang, Q., and Dixon, W.E., 2012, "RISE-based Adaptive Control of a Control Affine Uncertain Nonlinear System with Unknown State Delays," IEEE Transactions on Automatic Control, vol.57, no.1, pp. 255-259.

Sharma, N., Gregory, C.M., Johnson, M., and Dixon, W.E., 2012, "Closed-loop Neural Network-based NMES Control for Human Limb Tracking," IEEE Transactions on Control Systems Technology, vol.20, no.3, pp. 712-725.

Fisher, N., Kamalapurkar, R., Sharma, N., and Dixon, W., 2012, "RISE-Based Control of an Uncertain Nonlinear System With Time-Varying State Delays," IEEE Conference on Decision and Control, pp. 3505-3507, Maui, Hawai.

Sharma, N., and Stein, R., 2011, "Optimal Trajectory Planning for a Constrained Functional Electrical Stimulation-based Human Walking.," in the conference proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 603-7.

Sharma, N., Bhasin, S., Wang, Q., and Dixon, W., 2011, "Predictor-Based Control for an Uncertain Euler-Lagrange System with Input delay," Automatica, vol.47, no.11, pp. 2332-2342.

Sharma, N., Gregory, C.M., and Dixon, W.E., 2011, "Predictor-based Compensation for Electromechanical Delay during Neuromuscular Electrical Stimulation.," IEEE transactions on neural systems and rehabilitation engineering, vol.19, no.6, pp. 601-11.

Bhasin, S., Sharma, N., Patre, P., and Dixon, W., 2011, "Asymptotic tracking by a reinforcement learning based adaptive critic controller," Journal of Control Theory and Applications,, vol.9, no.3, pp. 400-409.

Downey, R.J., Bellman, M., Sharma, N., Wang, Q., Gregory, C.M., and Dixon, W.E., 2011, "A Novel Modulation Strategy to Increase Stimulation Duration in Neuromuscular Electrical Stimulation.," Muscle & nerve, vol.44, no.3, pp. 382-7.

Fisher, N., Dani, A., Sharma, N., and Dixon, W., 2011, "Saturated Control of an Uncertain Euler Lagrange System with Input Delay," IEEE Conference on Decision and Control, pp. 7587-7592, Orlando, FL.

Sharma, N., Bhasin, S., Wang, Q., and Dixon, W., 2010, "Predictor-Based Control for an uncertain Euler-Lagrange System with Input delay," American Control Conference, Baltimore, MD.

Sharma, N., Bhasin, S., Wang, Q., and Dixon, W., 2010, "RISE-based Adaptive Control of an Uncertain Nonlinear System with Unknown State Delays," IEEE Conference on Decision and Control, pp. 1773-78, Atlanta, GA.

Bhasin, S., Sharma, N., Patre, P., and Dixon, W., 2010, "Robust asymptotic tracking of a class of nonlinear systems using an adaptive critic based controller," American Control Conference, pp. 3223-3228.

Wang, Q., Sharma, N., Johnson, M., and Dixon, W., 2010, "Adaptive Inverse Optimal Neuromuscular Electrical Stimulation," IEEE International Symposium on Intelligent Control (ISIC), IEEE, pp. 1287-1292, Yokohama, Japan.

Wang, Q., Sharma, N., Johnson, M., and Dixon, W., 2010, "Asymptotic Optimal Control of Neuromuscular Electrical Stimulation," IEEE Conference on Decision and Control, pp. 839-844, Atlanta, GA.

Sharma, N., Patre, P., Gregory, C., and Dixon, W., 2009, "Nonlinear Control of NMES: Incorporating Fatigue and Calcium Dynamics," ASME Dynamic Systems and Control Conference, ASME, pp. 705-712, Hollywood, CA.

Sharma, N., Stegath, K., Gregory, C.M., and Dixon, W., 2009, "Nonlinear Neuromuscular Electrical Stimulation Tracking Control of a Human Limb," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.17, no.6, pp. 576-584.

Sharma, N., Johnson, M., Gregory, C.M., and Dixon, W., 2008, "Modified Neural Network-based Electrical Stimulation for Human Limb Tracking," IEEE International Symposium on Intelligent Control, pp. 1320-1325, San Antonio.

Gregory, C., Bickel, C.S., Sharma, N., and Dixon, W., 2008, "Comparing the Force and Excursion-Frequency Relationships in Human Skeletal Muscle," Muscle and Nerve, vol.38, no.6, pp. 1627-9.

Stegath, K., Sharma, N., Gregory, C.M., and Dixon, W., 2008, "Nonlinear Tracking Control of a Human Limb via Neuromuscular Electrical Stimulation," American Control Conference, pp. 1941-1946, Seattle, WA.

Stegath, K., Sharma, N., Gregory, C.M., and Dixon, W., 2007, "An Extremum Seeking Method for Non-isometric Neuromuscular Electrical Stimulation," IEEE International Conference on Systems, Man and Cybernetics, pp. 2528-2532.

Stegath, K., Sharma, N., Gregory, C.M., and Dixon, W., 2007, "Experimental Demonstration of RISE based NMES of Human Quadriceps Muscle," IEEE-NIH Life Science Systems and Applications, pp. 43-46, Bethesda, MD.

Sharma, N., "A Discrete-Time Nonlinear Estimator for an Orthosis-Aided Gait," ASME Dynamic Systems and Control Conference, ASME, V001T04A003; 9 pages, San Antonio.

Sharma, N., and Dani, A., "Nonlinear Estimation of Gait Kinematics during Functional Electrical Stimulation and Orthosis-based Walking," American Control Conference, pp. 4778-83, Portland, Oregon.

Alibeji, N., Kirsch, N., and Sharma, N., "Control of Functional Electrical Stimulation in the Presence of Electromechanical and Communication Delays," 6th International IEEE EMBS Conference on Neural Engineering, IEEE, pp. 299-302, San Diego, CA.

Ravichandar, H., Dani, A., Khadijah-Hajdu, J., Kirsch, N., Zhong, Q., and Sharma, N., "Expectation Maximization Method to Identify an Electrically Stimulated Muscuoskeletal Model," ASME Dynamic Systems and Control Conference, Columbus, Ohio.

Kirsch, N., Alibeji, N., Fisher, L.E., Gregory, C., and Sharma, N., 2014, "A semi-active hybrid neuroprosthesis for restoring lower limb function in paraplegics," Proc. 36th Annu. Int. Conf. IEEE Eng. In Med. ad Biol. Society.

Sharma, N., 2012, "Lyapunov-based Control and Trajectory Planning for Restoring Human Limb Function," Department of Mechanical and Materials Science, University of Pittsburgh, Pittsburgh, PA.

Sharma, N., 2012, "Lyapunov-based Control and Trajectory Planning for Restoring Human Limb Function," Department of Mechanical Engineering, University of California Riverside, Riverside, CA.

Sharma, N., 2012, "Nonlinear Control and Optimization methods for Functional Electrical Stimulation," Department of Biomedical Engineering, University of California, Davis, Davis, CA.

Sharma, N., 2012, "Nonlinear Control and Optimization methods for Functional Electrical Stimulation," Department of Mechanical Engineering, University of Alberta, Edmonton, AB.

Sharma, N., 2012, "Nonlinear Control and Optimization methods for Restoring Walking via Neuroprosthet-ics," Department of Mechanical and Industrial Engineering, University of Massachusetts Amherst, Amherst, MA.

Sharma, N., 2012, "Nonlinear Control and Optimization methods for Restoring Walking via Neuroprosthet-ics," Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE.

Sharma, N., 2012, "Predictor-based Compensation for Electromechanical Delay during Neuromuscular Electrical Stimulation-II," American Control Conference, Montreal, QC.

Sharma, N., 2011, "Optimal Trajectory Planning for a Constrained Functional Electrical Stimulation-Based Human Walking," Alberta Motor Control Meeting, Jasper, AB, Canada.

Sharma, N., 2010, "Lyapunov-based Control Methods for Neuromuscular Electrical Stimulation," Alberta Montor Control Meeting, Kananaskis, AB, Canada.

Sharma, N., 2010, "Predictor-Based Control for an Uncertain Euler-Lagrange System with Input delay," American Control Conference, Baltimore, MD.

Sharma, N., 2010, "RISE-based Adaptive Control of an Uncertain Nonlinear System with Unknown StateDelays," IEEE Conference on Decision and Control, Atlanta, GA.

Sharma, N., 2009, "Nonlinear Control of NMES: Incorporating Fatigue and Calcium Dynamics," ASME Dynamic Systems and Control Conference, Hollywood, CA.

Sharma, N., 2008, "Modified Neural Network-based Electrical Stimulation for Human Limb Tracking," IEEE International Symposium on Intelligent Control (ISIC 2008), San Antonio, Texas.