Research
“Humans are allergic to change. They love to say, ‘We’ve always done it this way.’
I try to fight that. That’s why I have a clock on my wall that runs counterclockwise.”
—Grace Hopper
—Grace Hopper
-
Quantifiable measures of healthy spatial arm motions
Background Two-thirds of stroke survivors are permanently disabled and require extensive rehabilitation. There is an urgent need for personalized robot-aided rehabilitation systems to improve the therapy provided to stroke survivors and relieve caregivers from physically demanding work. After a stroke, patients exhibit stereotypical synergies, ... Read More
-
Exp[licit] -- a robotic simulation and control software based on Differential Geometry
Abstract The derivation of a robot’s equation of motion is typically focused on placing multiple coordinate frames to express their kinematic and dynamic relationships. The Denavit-Hartenberg convention is commonly used to place the coordinate frames. While this approach is highly popular, it has several limitations. To overcome these limitatio... Read More
-
Energy-aware robot control in physical human-robot interaction
Abstract For certification process of applications in physical human–robot interaction (pHRI), two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity or to predict external forces. In general, the current ... Read More