Our research interests are in both basic science and applications. Enhancing medicine is what drives our work, but we often find that new fundamental scientific results enable the best solutions to the problem at hand. Thus, we can and do follow intellectually interesting lines of inquiry inspired by our practical, clinically-motivated core research. Our research can be summarized as follows:
- Advance
the basic science of electromechanical systems through design,
kinematic and dynamic modeling, control, and
human-machine interaction research. Topics of interest include
continuum (tentacle-like) robots, synthesis and
optimization of mechanisms, novel actuation and
sensing, and human control interfaces for medical devices.
- Enhance medicine through novel interventional tools, robots, and/or guidance systems. Working closely with surgeons and radiologists, we carefully study current practice and then engineer better solutions. This has led to projects ranging from swallowable pill-sized robots to steerable needles and active cannulas.
Also, see our recent ICRA workshop page, and RSS workshop page.