Development of Computational Models of Human Motion Planning with Reduced Mobility
This research is related to identifying the computational solutions of human motion planning with the goal of developing new task planning algorithms to complement the design and control of efficient exo-limbs for physical training of patients with neurological disorders. By comparing the human experimental data with a hypothesis, the computational model on human reaching could be identified, in terms of key spatiotemporal features of motor coordination, i.e. arm posture, hand path geometry, and hand speed profile.
Part of the research is directed towards the development of sensor-based devices that assist in extracting higher order motion derivatives from the human limbs. These motion derivatives are related to contact and curvature specifications between the human limb and objects in the environment and are used in the synthesis of mechanical limbs formulation.