Research

Our primary research goals are:

• to apply our knowledge of robot hardware and human biomechanics to develop technologies for practical robotic prosthetic and assistive devices, and
• to apply our skills in human biomechanics, neural controls, and multi-body dynamics modeling to reliably analyze human motion and force generation patterns, in order to determine potential sources of human movement-disorder.

Current Projects

In this project we are building models of joint compliance and damping in the human hands. We are setting up experiments to collect human subject data involving free hand motions. We are building mathematical models to describe the variable damping and compliance based on the biomechanics of the muscles and joints.

Passive properties of the metacarpophalangeal joint of the index finger

Student: Pei-Hsin Kuo

Current state-of-the-art upper body prostheses are restricted in functionality due to limited degrees of movement and cumbersome structure.

Utilizing our knowledge of hand biomechanics, my background in robot dynamics and controls, and our experience in designing robotic hands, we plan to bridge the knowledge gap between existing robotic technologies and human biomechanics.

The Biomechanical Compliant Robotic Hand

Students: Brian McLaughlin, Robert Collins, Jerod Hayes, Isaac Osborne

We are building a robotic mechanism to model the variable compliance in human joints. Our systems involves DC motors which are programmed to follow muscular behavior and a smart mechanism to vary the joint stiffness.

Torque vs. Joint Shape modeling in a tendon driven finger.

Students: Prashant Rao, Mathew Sevey

We bring together our expertise in mathematical modeling, robotic design and development, and human biomechanics to our collaborative synthetic research goal of improving functionality and participation while breaking down the social stigma of disability.

We collaborate with Dr. Elizabeth DePoy and Dr. Stephen Gilson from the Center for Community Inclusion and Disability Studies (CCIDS) at the University of Maine.

Design of a ServiceBot for a Cafeteria Setting

Students: Danny Wheeler, Michael Marsh, Chris Freeman

This project started in August 2010 and focuses on developing a robotic system that will assist a person with a disability to be independent in a cafeteria setting by carrying a food tray for them.

Assistive “Jogger”

Students: Alexander Foster, Thomas Ciampa, Joseph Passarelli, Andrew Jacques

This project started in the Fall semester of 2010 as a Capstone Design project. This project is focusing on designing an apparatus that provides stability and comfort in the act of jogging for those who are unable to maintain their balance without assistance.

Hardware for human motion data collection

Students: Eileen Gatewood, John Collette

We have a six camera Vicon motion capture system. We use the Vicon system to collect high speed hand movement and full body movement data. We have the newest model of Delsys surface EMG sensors. The new versions called Trigno has wireless sensors which can be easily attached on the skin. The EMG data can be synched with the Vicon data.

We apply our skills in human biomechanics, neural controls, and multi-body dynamics modeling to reliably analyze human motion and force generation patterns, in order to determine potential sources of human movement-disorder.

A Comparison of the Kinetics and Kinematics of Exercises Employed to Improve Sprinting Time

Student: Thomas Ordelt

The project began in the Spring of 2010 as a Masters Thesis in the Department of Education and Exercise Science.

Research Collaborators

Dr. Elizabeth DePoy at the University of Maine

Dr. Stephen Gilson at the University of Maine

Dr. Yoky Matsuoka at the University of Washington

Dr. Katsu Yamane at Disney Research

Dr. Marcia O'Malley at Rice University

Dr. Brent Gillespie at the University of Michigan

Dr. Nick Giudice at the University of Maine

Dr. Robert Lehnhard at the University of Maine

Previous Projects

Anatomically Correct Test-bed (ACT) Hand