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About

J.A. Leavitt is a researcher whose work sits at the intersection of sensor fusion, rehabilitation robotics, and underactuated dynamic systems. Leavitt’s most influential contribution is a state estimation technique for high-bandwidth tilt measurement using low-cost sensors, a method that fuses a low-bandwidth tilt sensor with an inaccurate rate gyro and accelerometer to correct for bias and noise—work that has garnered 59 citations and proven foundational for affordable inertial sensing. In rehabilitation robotics, Leavitt addressed the critical challenge of lightweight, high-force assistive devices by developing a pneumatically actuated orthosis for upper extremity stroke rehabilitation, achieving 56 citations for its innovative use of pneumatic actuators’ high power-to-weight ratio. Leavitt also explored robust balance control in a one-legged, pneumatically-actuated hopping robot, analyzing regions of attraction to stabilize an underactuated system reminiscent of the Acrobot. This work, though smaller in citation count, demonstrates a deep engagement with nonlinear control and pneumatic actuation. Across these projects, Leavitt’s research consistently emphasizes practical, low-cost solutions to complex problems in sensing, rehabilitation, and dynamic robotics.