Research

We investigate the mechanics and neural control of multi-joint movement. Using rigid-body and inverse dynamics, we quantify how joint torques — including the interaction torques that arise between moving limb segments — are generated and coordinated, and how this coordination breaks down after neurological injury and with aging.

Building on these models, we design and control robotic and wearable systems, from collaborative robot arms to EMG-driven assistive devices, and integrate them with 3D motion capture, surface EMG, EEG, and immersive virtual reality. Our goal is to identify individual neuromechanical biomarkers and translate them into mechanism-based rehabilitation strategies and assistive technologies across the lifespan.

Research Areas

Lab Facilities

The lab (MCERC, Room 113) is currently being equipped with the following systems:

Motion Capture — OptiTrack optical motion capture system with 8 PrimeX 13 cameras (1.3 MP, 240 fps), Motive:Body software, and eSync 2 for hardware synchronization with external devices

Electromyography — Delsys Trigno Centro wireless EMG system with 8 Trigno Avanti sensors (with integrated inertial sensors)

Robotics — Universal Robots UR5e collaborative robot arm on a custom Vention mobile pedestal for physical human–robot interaction studies

Virtual Reality — Meta Quest 3 headsets for immersive VR-based movement assessment and training