A5079258091- Stroke Rehabilitation and Recovery
- Robot Manipulation and Learning
- Muscle activation and electromyography studies
- Motor Control and Adaptation
- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Biomimetic flight and propulsion mechanisms
- Teleoperation and Haptic Systems
- Botulinum Toxin and Related Neurological Disorders
- Advanced Sensor and Energy Harvesting Materials
- Child and Animal Learning Development
- Cerebral Palsy and Movement Disorders
- Musculoskeletal pain and rehabilitation
- Manufacturing Process and Optimization
- Tactile and Sensory Interactions
- Prosthetics and Rehabilitation Robotics
- Neurological disorders and treatments
- EEG and Brain-Computer Interfaces
- Balance, Gait, and Falls Prevention
- Infant Development and Preterm Care
- Robotic Locomotion and Control
- Reinforcement Learning in Robotics
- Neuroscience and Neural Engineering
- Action Observation and Synchronization
- Autism Spectrum Disorder Research
Nanyang Technological University
2016-2025
Indian Institute of Technology Madras
2022
Nanyang Polytechnic
2014
Università Campus Bio-Medico
2005-2009
Scuola Superiore Sant'Anna
2000-2005
Polytechnic University of Turin
2005
University of California, Berkeley
2002-2004
Abstract The manufacturing industry has witnessed advancements in soft robotics, specifically robotic grippers for handling fragile or irregular objects. However, challenges remain balancing shape compliance, structural rigidity, weight, and sensor integration. To address these limitations, a 3D‐printed multimaterial gripper design is proposed. This approach utilizes single, nearly fully automated 3D printing process to create universal with almost no assembly work. By processing functional...
This study presents the design of a novel minimalist liftoff-capable flapping-wing microaerial vehicle. Two wings are each directly driven by geared pager motor utilizing an elastic element for energy recovery, resulting in maximum lift-to-weight ratio 1.4 at 10 Hz 2.7 g system. Separate allow system to both resonate and control individual wing flapping angle, reducing necessary power consumption, as well allowing production roll pitch body torques. With series varied prototypes, performance...
Abstract Unlike traditional hard grippers, soft robotic grippers are commonly made of materials so that the can produce motion via elastic deformations their compliant components. The advantages compliance allow to effectively eliminate shocks caused by contact, which usually occurs when a gripper manipulates object. Until now, able operate numerous objects with irregular geometries and different textures. Besides, help embedded sensors, have facilitated growing automation many tasks,...
This paper presents recent results on the development and control of a microgripper based flexure joints, fabricated by LIGA instrumented with semiconductor strain-gauge force sensors. The is end-effector workstation developed to grasp manipulate tiny objects such as components typical biomedical microdevice.
Current neurorehabilitation models primarily rely on extended hospital stays and regular therapy sessions requiring close physical interactions between rehabilitation professionals patients. The current COVID-19 pandemic has challenged this model, as strict distancing rules a shift in the allocation of resources resulted many neurological patients not receiving essential therapy. Accordingly, recent survey revealed that majority European healthcare involved stroke care are concerned lack...
In this paper, an efficient charge recovery method for driving piezoelectric actuators with low frequency square waves in low-power applications such as mobile microrobots is investigated. Efficiency issues related to periodic mechanical work of the and relationship among electronics efficiency, coupling factor, actuator energy transmission coefficient are discussed. The proposed exploiting transfer between inductor a general capacitive load compared existing techniques that lead inherent...
This paper focuses on the design, fabrication and characterization of unimorph actuators for a microaerial flapping mechanism. PZT-SH PZN-PT are investigated as piezoelectric layers in actuators. Design issues discussed, criteria optimal dimensions determined. For low power consumption actuation, square wave based electronic driving circuit is proposed. Fabricated unimorphs characterized by an optical measurement system quasi-static dynamic mode. Experimental performance PZT-5H PZIV-PT...
Post stroke upper limb rehabilitation is a challenging problem with poor outcomes as 40% of survivors have functionally useless limbs. Robot-aided therapy (RAT) potential method to alleviate the effort intensive, task-specific, repetitive exercises for both patients and therapists. The present study aims investigate how time matched combinatory training scheme that incorporates conventional RAT, using H-Man, compares toward reducing workforce demands. In randomized control trial...
Abstract Robotic manipulation inherently involves contact with objects for task accomplishment. Traditional motion planning techniques, while having shown their success in collision-free scenarios, may not handle tasks effectively because they typically avoid contact. Although geometric constraints have been introduced into classical planners that involve interactions, still lack the capability to fully incorporate In addition, these methods generally do operate on cannot be directly...
This paper proposes and experimentally validates a method for driving flapping wings at large wing strokes high frequencies with DC motor, based on direct, elastic transmission. The motor undergoes reciprocating, rather than rotary, motion avoiding the use of nonlinear transmissions such as slider-crank mechanisms. is key to compact, easy fabricate, power efficient, controllable First, an appropriate maximum transfer arguments selected. Then, mechanism prototyped its experimental performance...
This paper presents an analysis of the major mechanical component (the thorax) micromechanical flying insect (MFI), a centimeter sized aerial vehicle currently in development at UC Berkeley. We present description kinematics mechanism which converts piezoelectric actuation into complex 3D wing motion. A complete non-linear modeling system based on Lagrangian energy technique is presented. design methodology presented order to achieve optimal matching conditions. Two kinds sensors are...
User-teacher interaction during the learning and execution of motor tasks requires employment various sensory channels, which tactile is one most natural effective. In this paper we present a wearable robotic teacher for predefined tasks, consisting localization system stimulation unit. This unit embeds four vibrotactile stimulators are activated in order to provide user with feedback about movement direction forearm cartesian space. Stimulators were chosen maximize sensitivity spatial...
Ideally, robots used for motor rehabilitation, in particular, during assessment, should minimally perturb the voluntary movements of a subject. In this paper, we show how state-of-the-art back-drivable robot, i.e., robot that can be moved by user with low perceived mechanical impedance, when assessment still that, despite its may not comply intrinsic kinematic constraints, which are neural origin and adopted human brain to solve redundancy tasks. Specifically, redundant task under...
Proprioception is a critical component for motor functions and directly affects learning after neurological injuries. Conventional methods its assessment are generally ordinal in nature hence lack sensitivity. Robotic devices designed to promote sensorimotor can potentially provide quantitative precise, accurate, reliable assessments of sensory impairments. In this paper, we investigate the clinical applicability validity using planar 2 degrees freedom robot quantitatively assess...
We explore controllability in flapping flight for micro aerial vehicles (MAVs), inch-size robots capable of autonomous flight. Differently from previous work, we focus on a MAV with very limited wing kinematics and simple input control schemes. In particular, the first part show how an provided pair wings, each single degree freedom passive rotation, can still ensure controllability. This is obtained by combining two ideas. The idea to parameterize trajectory based biomimetic principles,...