Balanced and Human-like Robotic Bipedal Gait
The study of bipedal robotic gait strategy from the fundamental point of view to produce human-like gait. The project will attempt to formulate the dynamics of the bipedal systems and analyse it through simulations and through experimental validation. Funded by ARC Discovery (DP1093476).
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Load carrying passive exoskeleton
The study of passive mechanical principles and design to transmit as much as possible the load carried on the back of a person to the ground through mechanical means, therefore taking the load off the person's musculoskeletal structure.
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Upper limb rehabilitation robot
A 3DOF robot with elbow support is utilised as a means to exercise the arm of a post-stroke patients needing rehabilitation treatment. Utilises haptic principles and advanced control strategies. This project is conducted in collaboration with Professor Mary Galea of the School of Physiotherapy and the Melbourne University Virtual Environment for Simulation (MUVES).
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Anatomically realistic joint modelling, actuation, and control
The project aims to study the fundamental of parallel mechanisms with application to the modelling of complex human joints, such as the shoulder or hip. This would bring together the knowledge from biomechanics, clinical physiotherapy, and robotics. Alternative actuation to the common motors used for various robotic mechanisms is to be studied to better reflect human / bio inspired mechanisms.
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Smart Prosthetics
This project aims to analyse problems associated with lower limb prosthetics and introduce mechatronics solutions to produce a more natural performance. Specific projects are:
* "Low-Cost Artificial Limbs using the Pressure Cast Technique" project, funded by CASS Foundation Ltd, under Science & Medicine Grants scheme.
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Novel Actuation Strategies
This project studies new approaches of motion generation. Currently, we are running the micro motor project in collaboration with A/Prof James Friend and Dr Leslie Yeo, MNRL, Monash University.
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Fundamental studies: Kinematics and Dynamics Analysis, Force / motion control of robotic manipulators
Fundamental strategies of motion and force control of open and closed chained robotic manipulators. Specific projects are:
* A Novel Reconfigurable Unlimited Spherical Motion Generator (ARC Discovery DP0985120) with Dr Chao Chen at Monash University.
* Control of highly redundant robotic manipulator, in collaboration with Prof. Oussama Khatib of Stanford University.
* Workspace analysis of reconfigurable modular robots for endoluminal surgery, in collaboration with COPRIN team (Prof. J-P. Merlet), INRIA Sophia-Antipolis.
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