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Robot technologies are essential for the
development of advanced prostheses and rehabilitation techniques.
Two key areas of research are: the development of robotic assistive
and prosthetic devices that possess critical biomechanical and
neuromuscular features, and the development of methodologies to
analyze human motion and control patterns. My experiences in
traditional and emerging areas of robotics have prepared me to
contribute in both of these areas.
I have developed a unique method for the analysis
of dynamics and contact constraints leading to design improvements
and controls synthesis. The method is generalizable and has
demonstrated early promise in its application to model human
biomechanics and control strategies during walking and balancing.
Currently I am working on the development of an anatomically correct
test-bed (ACT) Hand which is an advanced hand prostheses with
physiological tendons and joints. My research with the ACT Hand has
provided some of the first analyses of biomechanical features and
neural control strategies within the human hand. These
investigations are critical for the development of advanced
prostheses.
My primary research goals are: (1) to apply my
knowledge of robot hardware and human biomechanics to develop
technologies for practical robotic prosthetic and assistive devices,
and (2) to apply my skills in human biomechanics, neural controls,
and multi-body dynamics modeling to reliably analyze human motion
and force generation patterns, in order to determine potential
sources of human movement-disorder.
| Anatomically Correct Test-bed (ACT) Hand |
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| Investigation of Variable Moment Arms in Hands |
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Moment arms define the relations
between muscles and joints.
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In human hands moment arms, due
to tendon sliding and non-uniform bone shapes, moment arms
are configuration dependent.
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Gain understanding of moment arms using the ACT Hand.
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Compare results with the available cadaver data
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See more details of this project
here.
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| Passive Force Contribution in Hand Motion |
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| Neuromuscular Controls Strategies |
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| Dynamic Analysis of Multi-body Robotic Systems |
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Robotic systems with
actuation redundancy and internal actuation are of interest for
us.
We develop methods to exploit system dynamics.
See more details of this
project here.
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| Physically Cooperating Mobile Robots |
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Team of mobile robots for search
and rescue
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Physical cooperation among the
agents can improve overall mobility of a team of mobile
robots
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We propose and design physical
cooperative behaviors with passive connecting links.
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See more details of this project
here.
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| Methods for Design and Analyze Cooperating Mobile Robots |
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We introduce the idea that
physically cooperating mobile robots can be analyzed as a manipulation
system.
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The analysis is simplified by
"opening up" of the closed chains multiple connected robotic
system.
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See more details of this project
here.
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Constraint Dominance Relation in Engineering Design |
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Exploiting dominance among
constraints is one particularly strong approach to
simplifying design problems and to focusing designers’
attention on critical design issues.
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We design a Linear
Synchronous Motor drive by using dominance relation
among design constraints.
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See more details of this
project here.
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| Claytronics: Modular Robots and Interaction Dynamics |
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