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Biomimetic Robotics: Mechanisms and Control

Principal investigator: Ranjan VEPA

The focus is of this research is on the electrical interfacing and the transference of control signals. Brian-computer interfacing and issues such as controlling essential tremor as well as cerebellar, dystonic or Parkinsonian tremor are targeted. Lower limb prosthesis, the automatic control of walking with artificial limbs and the use of biosensors and transducers in dealing with limb prostheses form the basis for the design of the control system for prosthetic limbs.
Of particular interest in this area is the model predictive control based on unscented Kalman filtering of nonlinear model of prosthetic limb motions. The problem being nonlinear, it involves the design of non-linear optimal control based on joint parameter and state estimation using the unscented Kalman filter.
Related Publication: i) “Biomimetic Robotics: Mechanisms and Control” Cambridge University Press, ISBN: 978-0-521-89594-1 (Biomimetic Robotics - Cambridge University Press, 2009 )
ii) Vepa R. “Ambulatory Position Tracking of Prosthetic Limbs Using Multiple Satellite Aided Inertial Sensors and Adaptive Mixing,” The Journal of Navigation, vol. 64, no. 02, pp. 295-310, Apr., 2011.