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Research Statement
In my doctoral research i am looking at
control strategies for two legged walking robots. I am
interested in application of novel techniques like
differential flatness in both the design and control of
robots. I am looking at the biped as an underactuated
/fully actuated nonlinear system where one needs to
generate limit cycles. Limit cycles are in general hard
to generate for nonlinear underactuated systems. I am in
the process of designing a walking machine.
Rehabilitation Robots and Systems
My other interests include developing
novel rehabilitation robotic devices and human machine
learning environments. I have instrumented an ankle foot
orthosis with six axis force torque sensors and encoders
and have collected and validated data with this device.
I am currently developing and graphical interface as a
training tool for a full leg orthosis. This interface
provides real time visual feedback for stroke patients
during the training sessions greatly increasing their
learning potential. This work is done in collaboration
with the physical therapy Department at University of
Delaware.
Vision and Goals
I
enjoy designing mechanical systems, fabricating and
assembling them myself and doing experimental validation
of the theory behind the design. Most of my machines
include a good amount of electronics as well. I use
D-space boards to control my systems and have worked
with sensors like potentiometers, encoders, load cells.
I have a good amount of experience with CNC and manual
milling machines, lathes, welding and general workshop
equipment. My vision for my thesis is to be able to
develop better control strategies for walking robots,
design them, fabricate them and demonstrate the efficacy
of my algorithms through experimentation. |
