The Human Machine Interaction (HMI) Laboratory focuses on the design, control, implementation, and evaluation of mechatronic systems that are capable of haptic interaction — physical interaction with the user through the sense of touch. In particular, we develop and analyse principles and tools to enable physical human-robot interaction (pHRI) with a systems and controls perspective. We aim to achieve optimal performance for such systems, while simultaneously ensuring safety and ergonomic nature of interaction under the coupled dynamics of the human-robot system and the constraints imposed by human biomechanics/sensorimotor control. Our research extends to synthesizing algorithms for simulated physical interaction with virtual environments (haptic rendering) and exploring the control theoretical framework of human sensorimotor system through empirical investigations of skill acquisition.


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