Hami Kazerooni

Research Interests

The project involves the control of a two-legend eoskeleton in the Robotics laboratory. The exoskeleton legs have two functions:
(1) stabilizing the entire exoskeleton in the presensce of load variations, and
(2) following the human leg for locomotion. Each exoskeleton leg has six degrees fo freedom and is in physical contact with the human leg at the foot only

Research Summary

The objective is to design, construct, and control of a lower extremity enhancer for humans. The intention of the proposed device is to provide a human with the ability to carry weights on the order of 100 lbs. over any sort of terrain for extended periods of time without undue failure.

The objective is to design and control computer-controlled material handling robotic systems that are worn by workers to maneuver loads in factories, shipyards, construction sites and warehouse. When the worker uses these machines to touch and manipulate a load, the machine transfers to her/his arm, as natural feedback, a scaled-down value of the actual load weight which the machine is manipulating: The human "feels" the load weight in the manipulations.

The objective of this project is to design an innovative multi-degree of freedom computer-controlled force-reflecting haptic interface suitable for manual performances and virtual reality

Selected Publications

Kazerooni, H. and Guo, J., "Human Extenders", ASME Jounral of Dynamic Systems, Measurements, and Control, Vol. 115, No. 2(B), June 1993

Kazerooni, H. and Snyder, T.J., "A case Study on Dynamics of Hepatic Devices: Human Induced Instability in Powered Hand Controllers," AIAA Journal of Guidance, Control, and Dynamics, Vol. 18, Number 1, 1995