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Current Research Projects

Lower Limb Prostheses with Dynamic Joint Alignment

Dynamic alignment is a new concept that actively realigns the residual limb with the ground reaction force during the stance phase of gait to reduce socket loading.

Improved Musculoskeletal Model in OpenSim of Below-Knee Amputees

We are developing a new forward dynamics musculoskeletal model in OpenSim in Colloaboration with Locomotion Research Group at UMass-Amherst for simulating amputee gait that accounts for an amputee's unique anatomy.

Powered Hip Exoskeleton

This project focuses on developing new mechanisms to actuate the hip that leverage the natural dynamics during gait.

ExoSpine Orthosis

This is a two-fold project focused on modeling the dynamics of external assistance to the torso and using pattern recognition to identify the user's intent using surface electromyography and inertial sensors.

uBot-7: A Dexterous Whole-Body Mobile Maniupulator

In collaboration with Laboratory of Perceptual Robotics at UMass-Amherst, the seventh generation uBot was developed with enhanced sensing through the addition of series elastic actuators at each joint.

Two-Wheeled Inverted Pendulum Walker

This project explores how to dynamically assist mobility-impaired users with balance and fall prevention using a robotic walker based on two-wheeled inverted pendulum.
Coming Soon

 

Robust and Compact Load Cell Design

In this project a new type of load cell is being developed based on the Hall Effect in order to create low-cost and durable load cells for use in robotic and prosthetic applications.
Coming Soon

 

Physically Interactive Surface Robots

The goal of this project is to create new low-cost, interactive robots for physically immersing the user in a virtual world.
 

Past Research Projects

Intelligent Terrain Adaptive Ankle Prostheses

An ankle prosthesis that uses semi-active damping as a mechanism to provide active slope adaptation.

Haptic Feedback Tactor Array

A modular tactor array used provide proprioceptive feedback of wrist motion for upper limb amputees.

Powered Knee and Ankle Prosthesis

Investigation into the design and control principles for powered lower limb prosthesis. This project was conducted previously in the Center for Intelligent Mechatronics at Vanderbilt University.