Current Research
Exploring Kinematics Contribution to the Arm Stiffness Modulation During Overground Physical Human-Robot Interaction
This research investigates the role of human arm kinematics in stiffness modulation during physical human-robot interaction (pHRI). Focusing on elbow and shoulder joint angles, the study examines whether kinematic changes contribute to stiffness adjustments when interacting with a robot. This work aims to clarify the extent to which joint movement, as opposed to muscle activation, influences effective and intuitive pHRI.
Development of Intelligent Robot Assistance in Mining (IRAM)
We will develop an intelligent robot assistance in mining (IRAM) to aid humans in executing tasks. IRAM will assure safe operations in deep mines, high temperature areas, isolated areas with toxic and explosive gasses, or tight spaces for maintenance. This robot will assist, complement, collaborate with, or further aid human efforts, while providing an evaluation platform for assurance, safety, and other human factors. IRAM will reduce human exposure to dangerous substances and environments, thereby reducing injuries, and fatalities.
Adaptive Control of a Haptic Device Considering User Hand Interference and Its Associated Uncertainty
The dynamics of the human hand can impact haptic system transparency. Factors like mass, stiffness, and damping introduce challenges in achieving clear force feedback. Mismatches between hand and device properties reduce transparency. To address this, we are developing an advanced adaptive controller. This controller helps align device behavior with the natural dynamics of the hand.
Past Research
Human-human interaction (HHI): Defining human-like-ness in robot terms
Studying humans, who are already masters of physical interactions, is a critical first step toward the development of interactive robots. We collect data from humans while they naturally interact with each other using dedicated equipment developed for this purpose. It is then analyzed to understand what human-like interaction is, how to quantify them, and how to use the findings to guide interactive robot design and control.
Human movement assistance: Understanding what helps and why
Effective human movement assistance starts from understanding the specific biomechanical needs and developing tailored solutions. Our project in this area involves studying the effect of light interaction forces on human balance during both standing and walking or providing energy-efficient solutions to assist upper-body movement (ex. elbow) or lower-body movement (ex. stair-negotiation).
