Dynamics, Control, Mechatronics & Robotics
Our research activities focus on the modeling, analysis, and control of the behavior of dynamical systems, with applications that straddle the borders between several branches of engineering and biomedical sciences.
We combine cutting-edge theoretical research in nonlinear dynamics, virtual modeling, and advanced control algorithms, with hands-on design, multi-physics computer simulations, prototyping, and experimental validation to span a broad array of applications in industrial, wearable, and medical robotics, human-machine interfaces, intelligent orthotic and prosthetic devices, high-performance actuators, miniaturized robots, impact mechanics, vibration suppression, and novel locomotion modalities.
The research interests are centered on several foci:
Haptic Interfaces
Faculty Contacts: Y. Hurmuzlu, E. Richer
Our research in this area develops mechatronic devices that enhance the interaction between a human operator and a virtual environment or the ability to teleoperate remote systems.
We developed an unprecedented 14 degrees-of-freedom system that envelops the arm and hand of the operator and allows realistic interaction with a computer-generated environment through real-time force feedback. In conjunction with haptic rendering of soft tissue mechanical properties based on elastography, this system opens new avenues in telemedicine, virtual palpation, remote cancer diagnostics, and virtual simulation training.
Wearable Robotics, Active Orthotics, and Intelligent Prosthetics Devices
Faculty Contacts: E. Richer
The suppression of drug-resistant tremors at the musculoskeletal level is a major focus of research, particularly in patients with conditions such as Parkinson's, multiple sclerosis, stroke, head trauma, or essential tremor. We design, simulate, prototype, and experimentally test personalized devices that utilize neuro-signals, external sensors, and actuators to estimate intentional motion and identify and suppress tremorous motion.
Research on intelligent devices for rehabilitation and force augmentation conducted in our labs has the potential to dramatically improve the functional abilities of people affected by stroke, cerebral palsy, or neurodegenerative diseases.
Bio-inspired Soft Robots
Faculty Contacts: E. Richer
This research area focuses on the design and analysis of bio-inspired soft robots with a large number of degrees of freedom, made of highly deformable materials such as elastomers and gels.
Our research involves inverse kinematics and dynamics mathematical models, stability analysis, Multiphysics simulation, and nonlinear control algorithms for hydraulically amplified dielectric elastomer actuators and multi-stacked segmented robots.
Locomotion
Faculty Contacts: Y. Hurmuzlu
Many biological and artificial systems achieve mobility through diverse forms of locomotion. Our research focuses on the stability and nonlinear dynamics of bipedal locomotion.
By extracting meaningful parameters from human locomotion data, we aim to significantly improve the diagnosis of pathological gait patterns and the design of assistive and orthotic devices for individuals with mobility impairments. In addition, we develop control strategies to regulate the gait of locomotion robots, which range in size from millimeter-scale, magnetically actuated robots to human-sized, joint-actuated systems.
Modular Robotic Inspection Systems
Faculty Contacts: Y. Hurmuzlu, E. Richer
Our aim is to develop modular robotic inspection systems (MoRIS) that are able to assist and support human workers in performing inspections during the production, assembly, maintenance, repairs, and upgrades of airplanes. MoRIS has the potential to improve accuracy, reduce costs, improve ergonomics, and enhance safety.
The modular nature of the system would allow the use of a number of modules that would enable easy configuration and reconfiguration of the morphology of the inspection robots based on a specific task.
Multi-body Impact Mechanics
Faculty Contacts: Y. Hurmuzlu
Low-velocity collisions of rigid bodies with friction is a fundamental problem in mechanics that finds applications in robotic locomotion, pick and place problems of robotic manipulators, and human-machine interface.
We study problems related to the coefficient of restitution and the influence of impact-induced vibrations on this parameter. Additionally, we examine rigid body impacts involving kinematic chains and external surfaces, a scenario commonly encountered in robotic systems.
