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