Paria Esmatloo
PhD Student in Robotics
Paria Esmatloo
PhD Student in Robotics

Research

Development of a Robust EMG-Based Human Machine Input Method for Device Control (ongoing)
- Developed a customized EMG-based input method for dynamic task detection and assessed performance under various hand movement configurations
- Analyzing effects of human motor learning and learning through biofeedback and success in using the input device during finger tasks (ongoing)
Simultaneous Real-Time Control of Hand Pose and Grasp Strength with an EMG-Driven Hand Exoskeleton (ongoing)
Prediction of intended grasping mode and grasping force based on EMG signals and stiffness control of Maestro exoskeleton to assist subjects with tasks
Preventing Neuromuscular Fatigue and Assistive Device Disuse through Robust Assistive Robot Control

Developed a robust assistive EMG-based intention recognition method and assistive device control to reduce muscular effort requirements for subjects with severe hand disabilities

Publication: IEEE EMBC2021
Presentation

maestro_system
Development of an Assistive Hand Exoskeleton, Maestro, for Spinal Cord Injury Patients

Improved hand function of SCI patients and enhanced their performance in daily activities using an assistive hand exoskeleton through EMG-based intention recognition as measured by Sollerman hand function test

Publications: IEEE ICRA2017, IEEE ICORR 2017, Wearable Technologies 2020

Watch it in action

Control of Fingertip Position and Forces to Achieve Dexterous Manipulation through Accurate Modeling of Hand-Exoskeleton-Environment

- Performed kinematics analysis for a 12-DOF coupled system of three fingers and a hand exoskeleton
- Proposed novel model-based control methods for in-hand manipulation through assistive exoskeleton and increased the accuracy of fingertip position and force control by 65% compared to state-of-the-art methods

Publication: IEEE/ASME AIM 2020 (Best Student Paper Award winner)
Presentation

Improving Physical Human Robot Interaction (pHRI) through Modeling and Sensorization

- Developed a sensorized upperarm attachment for the upper body wearable exoskeleton, Harmony, to monitor and control distributed forces at the pHRI
- Developed an indenter device to measure the compliant properties of the human limbs and modeled the pHRI to optimize distributed force transmission between the robot and the user through customization

Publications: Sensors 2021, IEEE/ASME AIM 2021 (1) , IEEE/ASME AIM 2021 (2)