Current opportunities

Postdoc research

Postdoctoral Research Associate

Postdoctoral Research Associate with suitable background in mechatronics, control, rehabilitation technology, robotics or neuroscience, who will develop his or her own research activity in our group and may participate on some of our projects.

In particular, we have been awarded EU grants on the control of lower limb exoskeleton and on human-human motor interaction.

If you are interested, please email Etienne Burdet a short motivation for the position, your CV as well as a scan of your academic transcripts. Please use as title:

Human Robotics: RA position, "your name".

A*Star-Imperial PhD

A*Star-Imperial PhD project

Shared Control: From Human-Human Physical Interaction to Human-Robot Interaction

Robots are envisioned not only to co-exist but also to collaborate and co-work with human beings in the foreseeable future [1]. Despite the advent of robotics in the past decades, the development of fully autonomous robots that fulfil operational requirements under real-world working conditions is still very challenging. The intervention of human beings in a task is necessary especially when the environment is unstructured and uncertain [2]. Many researchers have seen the need for shared control of human and robot in different applications, e.g., robotic rehabilitation [3], object transport [4], and tele-operation. The thrusts of human-robot shared control rely on the observation that human beings and robots share the same workspace and have complementary advantages. Robots’ strength lies in their superior efficiency in carrying out regular tasks at a high speed with the guaranteed performance, while human beings with their cognitive skills excel in understanding the circumstances, reasoning, and problem solving. However, introducing human beings into the control loop brings open and challenging problems, due to critical issues of human beings’ uncertainty and unmeasurable states.

This project will capitalise on new findings about human-human physical interaction [5] to develop new strategies for human-robot shared control. The following issues will be investigated: a) how do humans exchange information during physical interaction in joint tasks; b) how to make robots understand their human partners’ intentions; c) what criteria should robots obey to coordinate or even compete with human beings for specific/general tasks; d) what strategies can be developed for robots to achieve these objectives of coordination and competition. The proposed approaches will be implemented and tested on different types of robot platforms at Imperial College London and at A*STAR in Singapore. Besides, design and development of demonstrators with potential real-world applications are expected.

The AIP PhD scholarship information and application procedure can be found here. Note that the AIP is for Singaporean citizen or applicants who want to become citizen.

References:

[1] N. Jarrasse, V. Sanguineti, and E. Burdet, “Slaves no longer: review on role assignment for human-robot joint motor action,” Adaptive Behavior, vol. 22, no. 1, pp. 70–82, 2014.

[2] Y. Li and S. S. Ge, “Impedance learning for robots interacting with unknown environments,” IEEE Transactions on Control Systems Technology, doi:10.1109/TCST.2013.2286194, 2013.

[3] C. Yang, G. Ganesh, S. Haddadin, S. Parusel, A. Albu-Schaeffer, and E. Burdet, “Human-like adaptation of force and impedance in stable and unstable interactions,” IEEE Transactions on Robotics, vol. 27, no. 5, pp. 918–930, 2011.

[4] Y. Li and S. S. Ge, “Human-robot collaboration based on motion intention estimation,” IEEE/ASME Transactions on Mechatronics, vol. 19, no. 3, pp. 1007–1014, 2014.

[5] G Ganesh, A Takagi , R Osu, T Yoshioka, M Kawato and E Burdet, "Two is better than one: Physical interactions improve motor performance in humans". Nature Scientic Reports 4: 3824, doi: 10.1038/srep03824, 2014.

Contact:

Imperial supervisor:
Professor Etienne Burdet
Department of Bioengineering
e.burdet@imperial.ac.uk

A*STAR supervisors:
Dr. TEE Keng Peng
Dr. LI Yanang
A*STAR I2R
kptee@i2r.a-star.edu.sg
liy@i2r.a-star.edu.sg
http://www.i2r.a-star.edu.sg/