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.
See our
Research or
Publications
pages for further
information on current projects.
Also, see our recent
ICRA
workshop page, and
RSS
workshop page.