Homayoon Kazerooni

Professor of Mechanical Engineering
Keywords: mechanics, materials
Research Areas: bioengineering, robotics, control systems, mechatronics, design, automated manufacturing, human-machine systems
Website: http://www.me.berkeley.edu/faculty/kazerooni/index.html

Research Description:

Our research activities are focused on the design and control of a class of robotic systems worn or operated by humans to augment human mechanical strength, while the wearer’s intellect remains the central control system for manipulating the robot. Human power extenders can be used to maneuver heavy loads with great dexterity, speed, and precision, in factories, shipyards, airports, construction sites, and warehouses.

The design and control of human power extenders are different from the design and control of conventional robots because they interface with the human on a physical level. The human transfers his/her commands to the extender via the contact forces between the human and the extender, eliminating the need for a joystick, pushbutton, or keyboard to transfer such commands. In this unique configuration, the human body, in physical contact with the extender, exchanges both power and information signals with the extender. Because of this unique interface, the human becomes an integral part of the robot and “feels” the load that the power extender is carrying. The hypothesis is that these machines when worn by workers to maneuver loads, prevent back injuries in workers. When the worker uses the extender to touch and manipulate a load, the extender transfers to her/his arm, as natural feedback, a scaled-down value of the actual load weight which the extender is manipulating: the human “feels” the load weight in the manipulations. In this way, the extender prevents back injuries to workers maneuvering loads.

Our research work on fundamentals of human power augmentation has resulted in a wealth of knowledge and experience in various robotic disciplines such as force control, impedance control, sensors, locomotion, compact transmission systems, advanced haptic devices, DSP embedded controllers, biomemtic systems, humanoid robots, hydraulic, pneumatic, and electric actuators.

Selected Publications:
  • H. Kazerooni, R. Steger. The Berkeley Lower Extremity Exoskeletons. ASME Journal of Dynamics Systems, Measurements and Control, V128, pp. 14-25, March 2006.
  • A. Zoss, H. Kazerooni, A. Chu. On the Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX). IEEE/ASME Transactions on Mechatronics, Volume 11, Number 2, pp. 128-138, April 2006.
  • H. Kazerooni, R. Steger, L. Huang. Hybrid Control of the Berkeley Lower Extremity Exoskeleton. The International Journal of Robotics Research, V25, No 5-6, pp. 561- 573, May-June 2006.
  • J. Raade, H. Kazerooni, Analysis and Design of a Novel Power Supply for Mobile Robots. IEEE Transaction on Automation Science and Engineering, Volume 2, Number 3, pp. 226-232, July 2005.
  • H. Kazerooni, Design and Analysis of Pneumatic Force Generators for Mobile Robotics Systems. IEEE/ASME Transactions on Mechatronics, pp. 411-418, V10, N4, August 2005.
  • H. Kazerooni, A. Chu, R. Steger. That which does not stabilize, will only make us stronger. The International Journal of Robotics Research, Vol. 26, No. 1, pp. 75-89, January 2007.
  • H. Kazerooni, Neuromuscular Disorders and Techniques: Novel Observations and Fresh Looks. American Association of Neuromuscular & Electrodiagnostic Medicine, pp. 25- 38, October 13, 2006.
  • Uchimura, Y., Kazerooni, H. A ยต-based Synthesis based Control for Compliant Maneuvers. ASME Journal of Dynamics Systems, Measurements and Control, V128, pp. 914-921, December 2006.
  • H. Kazerooni, D. Fairbanks, A. Chen, G. Shin. The Magic Glove. IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004.
  • S. Kim, G. Anwar, H. Kazerooni. High-speed Communication Networon the Exoskeleton. American Control Conference, Boston, June 2004.

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