Work
in the laboratory was begun in spring 2005 and the research here generally
deals with topics including robot-assisted surgery, haptics, and interactive
physical simulations. The common element in this work is that direct
physical interaction is involved between human users and robotic devices.
The interactive robotic systems developed for these projects must be
backdrivable and lightweight, with high precision and control frequency bandwidths.
These requirements are achieved through small, simple, modular device design
which involves physical modeling and simulation, novel kinematics, actuation,
and sensing, and fast realtime control methods. Other topics involved in
human-robot interaction include human haptic (kinesthetic and tactile)
perception and biomechanics.
Projects:
Magnetic Levitation Systems for Human Interaction
Linkage
for Locomotor Rehabilitation
Active
Stabilization Support Frame for Surgical Instruments
Instructional
Robot Interface
People:
Peter Berkelman, Asst
Professor
Ji Ma, PhD student
Stephan Fabel, PhD student
Michael Dzadovsky, MS student
Peiyi Kwok and Reid Sakamoto,
Summer 2007 Interns
Timothy Lu and Erin Sanehira,
Summer 2006 Interns
347 Holmes
Hall, 808-956-0767
University
of Hawai'i at Manoa
Mechanical
Engineering Department