Human Balance Control in Challenging Environment with/without Physical Assistance

Humans exhibit remarkable locomotion capabilities that out-perform modern robots, while considering the complexity of the musculo-skeletal system and its ‘slow’ feedback loop. Our understanding of neuro-mechanical control model of balance is yet limited.  A better understanding of human neuro-muscular controller may guide a proper way to rehabilitate or to assist impaired people, and even facilitate […]

Circularly Constrained Motion

Motor neuroscience research is primarily composed of studies investigating unconstrained motion.  Yet, interaction with constraints are essential aspects of everyday life, such as turning a steering wheel or opening a door.  Humans excel at these tasks, while robotic systems often struggle.   To investigate a constrained motion task a simple crank-turning experiment was developed.  The […]

Non-Contact Estimation of Limb Impedance

For robotic systems to interact with or learn from the actions of surrounding humans, it is important that they can accurately interpret the intention driving human motor actions. Making such interpretations, however, requires the ability to perceive the relevant feature(s) from the observed human behavior. With visual sensing alone, robots are typically limited to perceiving […]


Here is a description of the anklebot project.