Research Themes

The Assistive Robotics & Control Laboratory (ARC Lab) develops robotic systems that enhance human capability through assistive robotics, intelligent control, shared autonomy, and haptic interaction. Our research combines theory, simulation, and experimentation to create robotic technologies that are safe, effective, and practical for human-centered environments.

Research in the ARC Lab is organized around four interconnected themes.

Shared Autonomy and Human–Robot Collaboration

We investigate shared-control frameworks that combine human intent with robot-level intelligence and safety mechanisms. Research in this area focuses on assistive robotic manipulation, human–robot collaboration, and methods for improving safety, reliability, and task performance during interactive robotic tasks.

Redundancy Resolution and Constraint-Aware Control

Many robotic manipulators possess multiple configurations capable of performing the same task. We study how kinematic redundancy and control constraints can be used to improve safety, obstacle avoidance, motion quality, and robustness in assistive and collaborative robotic systems.

Haptic Interaction and Teleoperation

Haptic feedback enables intuitive communication between humans and robotic systems. Research in this area explores force feedback, virtual constraints, teleoperation, and human-in-the-loop control, with an emphasis on understanding and improving human performance during robotic interaction tasks.

Modeling, Simulation, and Dynamical Systems

We develop mathematical models, simulation frameworks, and computational tools for robotic systems operating under uncertainty and disturbances. These methods support the design, analysis, and validation of robotic systems before deployment on physical hardware.

Research Philosophy

The ARC Lab emphasizes rigorous, experimentally grounded research that connects theory, simulation, and hardware implementation. Projects are designed to provide meaningful scientific outcomes while creating opportunities for undergraduate researchers to develop technical skills through hands-on experimentation, programming, modeling, and system development.

Our goal is to advance foundational research in assistive robotics and control while fostering an accessible and collaborative research environment for student researchers.