A5031790874- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Dynamics and Control of Mechanical Systems
- Soft Robotics and Applications
- Muscle activation and electromyography studies
- Teleoperation and Haptic Systems
- Robotic Path Planning Algorithms
- Mechanics and Biomechanics Studies
- Motor Control and Adaptation
- Mechatronics Education and Applications
- Engineering Technology and Methodologies
- Modular Robots and Swarm Intelligence
- Hand Gesture Recognition Systems
- Manufacturing Process and Optimization
- Advanced Theoretical and Applied Studies in Material Sciences and Geometry
- Parkinson's Disease Mechanisms and Treatments
- Control Systems in Engineering
- Robotics and Automated Systems
- Effects of Environmental Stressors on Livestock
- Control and Dynamics of Mobile Robots
- Experimental Learning in Engineering
- Hydraulic and Pneumatic Systems
- Stroke Rehabilitation and Recovery
Metropolitan University
2018-2020
University of Belgrade
2009-2018
Johns Hopkins University
2018
Institut Mihajlo Pupin
2015
National Technical University of Athens
2000
Institute of Communication and Computer Systems
2000
Electrotechnical Institute
1996
Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of inner structures human body, such as muscles, tendons, bones, and joints. Here we present our results more than three years research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each complex its predecessor, developed tools required to simulate their behavior. Furthermore, six different control approaches,...
This paper proposes a new control strategy for noncompliant and compliant antagonistic tendon drives. It is applied to succession of increasingly complex single-joint systems, starting with linear system ending revolute, nonlinearly coupled system. The last configuration mimics the typical human joint structure, used as model certain joints anthropomimetic robot ECCEROBOT. based on biologically inspired puller-follower concept, which distinguishes roles agonist antagonist motors. One...
The authors claim that a careful examination of robotics science and technology from its origins in the 1950s to current status reveals such progress, albeit very important, profitable, with strong impact on society, was basically "side activities" ever-existing continuous desire mankind build realize humanoid robots, artificial men equipped uith proper intelligence capable operating autonomously, thus replacing trained individuals for dexterous jobs. They consider robot through realistic...
This paper presents the analysis of motion a redundant anthropomorphic arm during writing. The modeling is based on separation prescribed movement into two motions: smooth global, and fast local motion, called distributed positioning (DP). distribution these motions to joints discussed. It inertial properties actuation capabilities joints. approach suggested allows unique solution inverse kinematics mechanisms such as human robot arm. Distributed an inherent property biological systems....
The intention of this paper is to contribute towards a unified understanding the basic notions and terms in domain humanoid robotics, having mind that same are sometimes interpreted different ways (some interpretations contradictory, some even erroneous). Hence, first part devoted defining notions, walk gait being among first. Then, deals with notion dynamic balance stability, particularly difference between them, since these essentially often confused and, rarely, regarded as identical. As...
Basic principles underlying the computer construction of models open kinematic chains using recurrent relations from rigid body kinematics are briefly presented in this paper. A new method for automatic setting aforementioned via second-order Lagrange’s equations is presented. This provides a realistic basis application complete dynamic to real-time control robots and manipulators.
We present an approach for quantitative assessment of the arm/hand movements in patients with Parkinson's disease (PD), from sensor data acquired a wearable, wireless armband device (Myo sensor). propose new Movement Performance Indicators that can be adopted by practitioners evaluation motor performance and support their clinical evaluations. In addition, specific indicate presence bradykinesia symptom. The study includes seventeen PD sixteen age-matched controls. A set representative is...
Traditional rehabilitation sessions are often a slow, tedious, disempowering and non-motivational process, supported by clinical assessment tools, i.e. evaluation scales that prone to subjective rating imprecise interpretation of patient's performance. Poor patient motivation insufficient accuracy thus critical factors can be improved new sensing / processing technologies.We aim develop portable affordable system, suitable for home rehabilitation, which combines vision-based wearable...
This paper presents a contribution to the study of control law structures and selection relevant sensory information for humanoid robots in situations where dynamic balance is jeopardized. In example considered, system first experiences large disturbance, then by an appropriate action resumes "normal" posture standing on one leg. order examine laws used humans, experiment was performed which human subject subjected perturbations ensuing reactions were recorded obtain complete about subject's...
This paper elaborates a generalized approach to the modeling of human and humanoid motion. Instead usual inductive that starts from analysis different situations real motion (like bipedal gait running; playing tennis, soccer, or volleyball; gymnastics on floor using some gymnastic apparatus) tries make generalization, deductive considered begins by formulating completely general problem deriving as special cases. The first explains methodology. concept software realization are verified...