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)
•
Brokoslaw
Laschowski (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
•
Nasr
A,
Laschowski
B,
and
McPhee
J.
(2021). Myoelectric
control
of
robotic
leg
prostheses
and
exoskeletons:
A
review.
In
Proceedings
of
the
ASME
2021
Virtual
International
Design
Engineering
Technical
Conferences
and
Computers
and
Information
in
Engineering
Conference
(IDETC-CIE),
vol.
85444,
p.
V08AT08A043.
DOI: 10.1115/DETC2021-69203
•
Laschowski
B,
McNally
W,
Wong
A,
and
McPhee
J.
(2020).
Comparative
Analysis
of
Environment
Recognition
Systems
for
Control
of
Lower-Limb
Exoskeletons
and
Prostheses.
IEEE
International
Conference
on
Biomedical
Robotics
and
Biomechatronics
(BioRob).
DOI:
10.1109/BioRob49111.2020.9224364.
•
Laschowski
B,
McNally
W,
Wong
A,
and
McPhee
J.
(2020).
ExoNet
Database:
Wearable
Camera
Images
of
Human
Locomotion
Environments.
Frontiers
in
Robotics
and
AI,
7,
562061.
DOI:
10.3389/frobt.2020.562061.
• Laschowski
B,
Razavian
RS,
and
McPhee
J.
(2021).
Simulation
of
Stand-to-Sit
Biomechanics
for
Robotic
Exoskeletons
and
Prostheses
with
Energy
Regeneration.
IEEE
Transactions
on
Medical
Robotics
and
Bionics.
DOI:
10.1109/TMRB.2021.3058323.
•
Laschowski
B,
McNally
W,
Wong
A,
and
McPhee
J.
(2021).
Computer
Vision
and
Deep
Learning
for
Environment-Adaptive
Control
of
Robotic
Lower-Limb
Exoskeletons.
bioRxiv.
DOI:
10.1101/2021.04.02.438126.