Robert Gregg

Assistant Professor - Bioengineering
Assistant Professor - Biomedical Engineering
Tags: Bioengineering Electrical Engineering Mechanical Engineering Computer Engineering

Professional Preparation

PhD - Electrical and Computer Engineering
University of Illinois at Urbana-Champaign - 2010
MS - Electrical and Computer Engineering
University of Illinois at Urbana-Champaign - 2007
BS - Electrical Engineering and Computer Sciences
University of California-Berkeley - 2006


Decentralized Event-Based Controllers for Robust Stabilization of Hybrid Periodic Orbits: Application to Underactuated 3-D Bipedal Walking 2019 - Journal Article
Mechanical Simplification of Variable-Stiffness Actuators Using Dielectric Elastomer Transducers 2019 - Journal Article
Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints 2019 - Journal Article
Modeling the Kinematics of Human Locomotion Over Continuously Varying Speeds and Inclines 2018 - Journal Article
Continuous-Phase Control of a Powered Knee–Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines 2018 - Journal Article
Underactuated Potential Energy Shaping With Contact Constraints: Application to a Powered Knee-Ankle Orthosis 2018 - Journal Article
Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study 2018 - Journal Article
A Robust Parameterization of Human Gait Patterns Across Phase-Shifting Perturbations 2017 - Journal Article
A Haptic Feedback System for Phase-Based Sensory Restoration in Above-Knee Prosthetic Leg Users 2016 - Journal Article
Design and open-loop control of the parkourbot, a dynamic climbing robot 2014 - Journal Article


Research Scientist
Rehabilitation Institute of Chicago [2011–2013]
Postdoctoral Fellow
Northwestern University [2010–2011]
McCormick School of Engineering

Additional Information

Awards and Honors
  • Career Award at the Scientific Interface, Burroughs Wellcome Fund, 2012
  • CLAWAR Association Best Technical Paper Award, International Conference on Climbing and Walking Robots, Paris, France, 2011.
  • Engineering into Medicine Postdoctoral Fellowship, Northwestern University Clinical and Translational Sciences Institute, Chicago, IL, 2010.
  • O. Hugo Schuck Award (Best Theory Paper), IFAC American Automatic Control Council, 2009.
  • Best Student Paper Award, American Control Conference, Seattle, WA, 2008.
  • Warren Dere Design Award, University of California-Berkeley, 2007.
  • First Place, NATCAR Design Contest, University of California, Davis, 2006.
  • Arthur M. Hopkin Award, University of California-Berkeley, 2006.
  • Christie Senior Research Award, California Alumni Association, University of California-Berkeley, 2006.

News Articles

Jonsson School Professor Earns NSF Grant for Prosthetics Innovation
Dr. Robert Gregg has devoted years of research to helping lower-limb amputees and stroke survivors walk again. A new grant from the National Science Foundation (NSF) has given that effort a significant boost.
The UT Dallas assistant professor of bioengineering and mechanical engineering has received a five-year, $500,000 NSF Faculty Early Career Development (CAREER) award to support his work on broadening the scope of activities available to users of powered lower-body prosthetics and orthotics. In 2013, the year he arrived at the Erik Jonsson School of Engineering and Computer Science, Gregg received a $2.3 million grant from the National Institutes of Health for similar work.
Professor's Work Empowers Amputees to Walk More Naturally
Dr. Robert Gregg has dedicated much of his life to helping stroke victims and lower-leg amputees learn to walk again. Motivated in part by a desire to help wounded veterans, the UT Dallas assistant professor of bioengineering and mechanical engineering is conducting research that is opening doors to a smoother leg motion, one that allows amputees to walk more naturally at various speeds on variable inclines.

His latest research on the subject, published online by IEEE Transactions on Robotics, describes his powered knee-ankle prosthesis that has been tested on three above-knee amputee subjects. Gregg likens this new development to horseback riding.
Jonsson School Prof Earns $2.3 Million Grant
Dr. Robert Gregg, an assistant professor of mechanical engineering and bioengineering who joined the Erik Jonsson School of Engineering and Computer Sciencethis fall, is a recipient of a $2.3 million grant from the National Institutes of Health for research that will combine robot control theory and physical rehabilitation to revolutionize and improve prosthetic limbs and orthotic devices.
“According to the American Society of Mechanical Engineers report ‘2028 Vision for Mechanical Engineering,’ mechanical engineers will need to collaborate with partners worldwide in order to apply innovative solutions and best practices to improve quality of life for all people,” said Dr. Mario Rotea, head of the Department of Mechanical Engineering. “Dr. Gregg’s research will contribute to this vision. His research combines mechanical systems, control theory, and embedded hardware and software to create next-generation prosthetics without the limitations of conventional solutions.
Faculty Mentors Honored for Nurturing Student Researchers
Two UT Dallas educators recently received the 2018 Provost's Awards for Faculty Excellence in Research Mentoring in recognition of their superior support and guidance to student researchers.
Dr. Robert Gregg
, assistant professor in bioengineering and mechanical engineering in the Erik Jonsson School of Engineering and Computer Science, received the award for undergraduate research mentoring, while the honor for mentoring graduate students went to Dr. Suresh Radhakrishnan, professor of accounting and information management in the Naveen Jindal School of Management.
Engineer Applies Robot Control Theory to Improve Prosthetic Legs
A University of Texas at Dallas professor applied robot control theory to enable powered prosthetics to dynamically respond to the wearer’s environment and help amputees walk.
In research available online and in an upcoming print issue of IEEE Transactions on Robotics, wearers of the robotic leg could walk on a moving treadmill almost as fast as an able-bodied person.

“We borrowed from robot control theory to create a simple, effective new way to analyze the human gait cycle,” said Dr. Robert Gregg, a faculty member in the Erik Jonsson School of Engineering and Computer Science and lead author of the paper. “Our approach resulted in a method for controlling powered prostheses for amputees to help them move in a more stable, natural way than current prostheses.”


Phase-Based Control of Locomotion for High-Performance Prostheses and Orthoses
2,295,000 - National Institutes of Health [2013–2018]
From Machine to Biomimetic Control in Robot-Assisted Walking
500,000 - Burroughs Wellcome Fund [2012–2017]