A Gradient-Descent-Based Null Space Planner for Dexterity Optimization during Upper-Limb Robot-Mediated Rehabilitation
Null-space planning work for maintaining dexterity during upper-limb robot-mediated rehabilitation.
Current Focus
Human-centered robotics for rehabilitation.
Developing sensing-driven rehabilitation robot systems that measure muscle engagement during multi-axis upper-limb tasks.
Studying how robot-mediated interfaces and adaptive control can support healthier movement practice after neurological injury.
Exploring social robot augmented telepresence for broader access to rehabilitation care.
Selected Research
Recent publications and projects
Characterizing Healthy & Post-Stroke Neuromotor Behavior During 6D Upper-Limb Isometric Gaming: Implications for Design of End-Effector Rehabilitation Robot Interfaces
Analysis of healthy and post-stroke neuromotor behavior during 6D isometric trajectory tracking with an end-effector rehabilitation robot.
An Extensible Platform for Measurement and Modification of Muscle Engagement During Upper-Limb Robot-Facilitated Rehabilitation
OpenRobotRehab platform work for measuring muscle engagement during 6D upper-limb trajectory tracking tasks.
Code
GitHub activity
Repository work, research code, and project artifacts live on GitHub.
github.com/ajyanand