Interactive Robotic and Rehabilitation Systems

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Robotics is emerging as an important tool in various application areas such as medical, aerospace, manufacturing, and search and rescue. With this growth, there is higher levels of physical Human-Robot Interaction (pHRI), there are more shared spaces between the two, and therefore, there is more potential for unsafe interactions and collisions. This research aims at developing generic control and sensing strategies which can ensure stability of pHRI and better react to collisions in order to increase human safety and minimize the risk of injuries. An emphasis will be given to rehabilitation robotic platforms though the results are equally applicable to industrial applications. Due to the importance of mobility to the quality of life, this research also investigates bipedal walking balance in robots and human and proposes and validates interactive technologies to enhance balance in people with balance impairment.