RBE 595 – Synergy of Human and Robotic Systems

Instructor:

Zhi Jane Li

Office: 85 Prescott 223C

Email: zli11 [at] wpi.edu

Time & Location: Mon & Wed, 1:00-2:20pm at OH109

Office Hour: Thurs, 3:00-4:00pm at Instructor’s office

TA Office Hour: Mon, 3:00-4:00pm

Overview:

This course covers topics on (1) the design and motion control of robotic systems that can be directly controlled by human (e.g., exoskeletons), teleoperated by human (e.g., tele-medical robot) and collaborate with human (e.g., mobile humanoid nursing robot), and (2) how human and robotic systems can synergistically work towards a shared goal to achieve high overall performance. Students will how to analyze and control the motion of human and robots, and to unite the knowledge in these two fields in the applications such as bio-inspired motion control, shared-autonomous control, and robot learning from human demonstrations. Students are expected to work individually on math problems, implement Matlab simulations, conduct literature review, and collaborate on course projects. Based on their background and research interest, students can choose among course projects that focus on mechanical design, control and learning algorithm, and studies on human motion and human-robot interaction.

Prerequisites:

Undergraduate Linear Algebra, kinematics and dynamics in robotics, basic statistics, and programming experience in Matlab.

Reference books:

• Magill, Richard A., and David I. Anderson. Motor learning and control: Concepts and applications. 11th Edition. New York: McGraw-Hill, 2017.
• Siciliano, Bruno, and Oussama Khatib, Springer handbook of robotics. 2nd ed. Springer, 2016. (Free access through WPI library)
• John J. Craig , Introduction to Robotics: Mechanics and Control (3rd Edition), Pearson, 2004
• Etienne Burdet, David W. Franklin, and Theodore E. Milner, Human Robotics: Neuromechanics and Motor Control, MIT Press, 2013
• Reza Shadmehr and Steven P. Wise, The Computational Neurobiology of Reaching and Pointing: A Foundation for Motor Learning, MIT Press, 2004

Course Syllabus:

• Here

Course schedule:

• Here

Grading:

1. In-Class Participation and Preparation 10%

   • Attendance to lecture 3%

     Students missing three or more lectures will lose all the 3% for attendance

   • Active participation 7%

     Students are required to actively ask and answer questions from the instructor and from each other in class, and answer each other’s questions on the Piazza forum. To avoid miscalculation, student will submit a note with the listed summary of what questions they have asked and answered by the end of the lecture, and submit a one-page summary of the discussion they have participated in on the Piazza forum.

2. Quizzes 20%
3. Assignments 25%
4. Literature review 10%
5. Course project 35%
   • Project proposal 10%
   • Project proposal presentation 5%
   • Project report 10%
   • Final presentation 10%
6. In-Class Participation and Preparation 10%

Lecture Slides:

1. Introduction to Course
2. Introduction to Course Topics
3. Introduction to Course Topics02
4. Introduction to Course Project
5. Introduction to Course Topics03
6. Forward Kinematics
7. Inverse Kinematics
8. Kinematic Redundancy
9. Stroke Rehabilitation: Gaming and Virtual Reality
10. Upper Limb Exoskeleton for Stroke Rehabilitation
11. EMG Sensing
12. Feature Extraction
13. Beyond EMG
14. Neural Interface
15. LfD Framework
16. Social Learning
17. Demonstration
18. LowLevel Learning 01
19. LowLevel Learning 02
20. HighLevel Learning 01
21. HighLevel Learning 02
22. HighLevel Learning 03

Resources:

• Springer Handbook Of Robotics, 2nd edition, by Bruno Siciliano (available via WPI library)
• Feedback Systems: An Introduction for Scientists and Engineers, 2nd Edition, by KJ Astrom and R. M. Murray
• Linear Algebra Review and Reference by Zico Kolter (updated by Chuong Do)
• Probability Review

• How to convert a continuous system to a discrete system

• A guideline for project evaluation by Jane Li
• How to read a paper by Dmitry Berenson
• How to Write a Conference Paper by Dmitry Berenson
• Research Paper Review Guidelines by Dmitry Berenson
• Presentation Guidelines by Dmitry Berenson
• Presentation Grading Sheet by Dmitry Berenson
• Project Proposal Guidelines by Dmitry Berenson

• Project Progress Report Guidelines by Dmitry Berenson

The instructor reserves the right to modify the course outline and policies mentioned in this syllabus at any time during the term.