Final Project

Topics:

· Optimization algorithms and trajectory planning in multi-joint

human/robot arm movements

· Impedance control in human/robot arm movements

· Redundancy resolution for robotic manipulators

· Representation of movement dynamics in human arm movements

· Donder's and Listing's laws in eye and arm movements

· Compensation of interaction torques in human arm movements

· Coordinate systems for the representation of human arm movements

· Analyses of force distribution in human/robot arms

· Hyper-redundant robot arms

· Application of Lie-groups in robotics

· The role of Basal Ganglia in reinforcement learning

· Behavioral and clinical studies in movement disorders:

- Parkinson's Disease

- Cerebellar disorders

- Neglect

(each project should be dedicated to one disorders)

· Computational models of movement disorders (as above).

· Using Virtual Reality in Neural Rehabilitation.

· On-line learning of arm movements.

· Optimization principles in limb segment motion

· Optimization principles in gait control

· Biological vs. Robotic Sensors and Actuators

· Functional Neuromuscular Stimulation of the Upper Extremities

· The cerebellum and its role in control

· Biomechanics and Neural Control of Posture

· Adaptive and fuzzy control in human/robot arm movements