Research Description
We are studying energy-efficient actuators and model-based control algorithms for lower and upper-limb exoskeletons and prostheses using integrated biomechatronic systems modelling. Environment recognition systems and onboard sensors inform the dynamic controllers, which optimize the movement assistance and regeneration capabilities of these wearable biomechatronic systems for rehabilitation and manufacturing applications.
Student Researchers
• Keaton Inkol
• Ali Nasr (Alumnus)
Keywords and Themes
• Exoskeletons and Prostheses
• Model-Based Control
• Biomechatronic Systems Modelling
• Assistive Technology
• Rehabiliation Engineering
Related Publications
• Nasr A, Hashemi A, and McPhee J. (2022). Model-based mid-level regulation for assist-as-needed hierarchical control of wearable robots: A preliminary study of human-robot adaptation. Robotics 11 (1) 20. DOI: 10.3390/robotics11010020
• Nasr A, Ferguson S, and McPhee J. (2022). Model-based design and optimization of passive shoulder exoskeletons. ASME. Journal of Computational and Nonlinear Dynamics. DOI: 10.1115/1.4053405