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  • HARU: On the compliance, reliability and motion control of a tabletop robot

    To ensure safe human-robot interaction in social scenarios, safety must be taken into consideration from the robot’s early conceptualization stages. Traditionally, existing robot design approaches have relied heavily on rigid components which can pose a potential safety hazard, while replacing or upgrading these components can be time-consuming and expensive. While the benefits of soft robotics for safety and interaction are well-understood, achieving reliability during long-hour operation is not sufficiently addressed. This work aims to address that research gap and provide a comprehensive methodology for the design and development of structures and actuation modules based on soft robotics technology, which would be able to best support a social robot’s dynamic motions for maximizing expressiveness and user immersion, while ensuring safety and durability over long-hour operation scenarios.

  • IRIS: Novel Mechatronic Systems and Soft Robotics enabled by 4D Printing and Machine Learning

    This research studies 3D and 4D printing with smart materials and the application of these technologies to the design and manufacturing of mechatronic systems and soft robots.

  • EXHILO: Real-time exoskeleton control for human-in-the-loop optimization

    The project goal is to build a physical prototype of a modular lower-limb exoskeleton system with a digital interface to a real-time variable controller. The prototype will be equipped with off-board actuation modules that provide variable control to different joints and joint ranges of motion while being capable of supporting real-time control of its kinetic properties. By varying the assistive strategies in the exoskeleton system via a digital interface, we will enable human-in-the-loop (HILO) optimization in order to find optimal control strategies for different users and different goals.

  • SocketSense

    The project aims to develop an innovative medical IoT system with wearable sensors and AI technologies for effective operation perception and design optimization of prosthetic sockets.