As a part of this project, the bigger goal is to develop new foundational capabilities for robot manipulation that assume contact is inevitable and desirable, and use full-body force-sensing skin with compliant actuation. I am currently using the robot forearm skin to infer mechanical properties of environment objects during incidental contact such that this information can be used intelligently for effective manipulation in cluttered environments. Details of the DARPA-M3 initiative can be found here.
2. Partnered Rehabilitative Movement: Cooperative Human-Robot Interactions for Motor Assistance, Learning, and Communication, NSF EFRI-M3C (Present)
The vision of this project is to develop caregiver robots that interact fluidly and flexibly with humans during functional motor activities, while providing motor assistance, enhancement, and communication to facilitate motor learning. However, we currently lack theories to understand how rehabilitation and movement therapists provide timely and appropriate physical feedback and assistance to improve mobility in individuals with motor impairments. To develop devices that could accompany an individual as both assistant and movement therapist, our goal is to study human motor coordination during cooperative physical interactions with a humanoid assistive robot. We will use rehabilitative partner dance as a paradigm to examine a sensory-motor theory of cooperative physical interactions relevant to walking and other functional motor activities. We will use a “partnered box step”, a constrained and defined pattern of weight shifts and directional changes, as a paradigm for a cooperative physical interaction with well-defined motor goals. Details of this project are given here.
3. Development of Robot Arm and Hand Coordinated Grasping/Manipulation Control Technology for Housework
As a part of this project, we developed a novel control law to exhibit human-motion characteristics in redundant robot arm systems for reaching tasks. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping as well as the low-pass filter characteristics of human muscles have been modeled by the proposed control law. The newly developed control law uses a time-varying damping shaping matrix and a bijective joint muscle mapping function to describe the human motion characteristics for reaching motion like quasi-straight line trajectory of the end-effector and symmetric bell shaped velocity profile. The aspect of self-motion and repeatability, which are inherent in human-motion, are also analyzed and successfully modeled using the proposed method. Experiment results show the efficacy of the newly developed algorithm in
describing the human-motion characteristics. We have also done some extensive simulations by extending the above control law for hand-arm coordination tasks in reach-to-grasp tasks for grasping objects of different shapes and sizes. The experimental and simulation videos can be found here. The detailed algorithm description and results can be found here.
In this project, we basically developed various control algorithms to enhance the stability and performance of remotely controlled surgical
A part of the above project led to my Master's Thesis entitled "Analysis of Stability and Performance of Telesurgical Systems". Here is the Master's Thesis Report.
In this project, we developed a mobile robot which is capable of reaching a particular destination avoiding all the obstacles in its way. We completed the design, fabrication, and control of this wheeled robot and verified the effectiveness of our algorithm using real-world experiments.
Our main objectives in this project were:
In this project, we developed an idea of a robot that is capable of playing conventional cricketing shots to any kind of ball. We basically incorporated the intelligent control techniques using a neuro-fuzzy approach and simulations were conducted to verify the working of the whole scheme.
Our main objectives in this project were: