The University of Massachusetts Amherst
University of Massachusetts Amherst

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MIE Seminar Series: "Sensing, Modeling and Control of Bipedal Locomotion with Slip Perturbations"


Tuesday, January 29, 2019 - 9:00am


Dr. Mitja Trkov, University of Utah


Kellogg Room, ELab II


Human bipedal locomotion involves complex underlying dynamics. Perturbations during walking, such as slips or trips, require rapid whole-body adjustments and significantly increase task complexity. Capturing these movements and designing devices to assist during such perturbations presents a challenge. Successful design and implementation of such devices requires understanding of human motion dynamics, balance stability and human-machine interactions.

In this talk, I will present sensing, modeling and control approaches for characterization of human walking with foot slip. I will demonstrate that the combination of modeling and sensing of shoe-floor interactions can be used to predict foot slip using a soft-solid contact model. Development of a robotic bipedal model and control for analyzing human balance stability during slip perturbation will be presented. This approach will be extended to describe the development of a rapid foot slip detection system and the development of a robotic assistive device to prevent slip-induced falls. These approaches and systems have applications in the field of biomedical engineering, rehabilitation and soft robotics. I will conclude with a brief presentation of my future research direction.

Dr. Mitja Trkov is a postdoctoral fellow in Mechanical engineering at the University of Utah in Salt Lake City, UT. He obtained his Ph.D. degree in Mechanical and Aerospace Engineering from Rutgers University, New Brunswick, NJ in 2016. He received his B.S. degree in Mechanical Engineering from the University of Ljubljana, Slovenia in 2007. Prior to his graduate studies, he worked as an R&D engineer in the naval industry. His research interests include human-machine interactions, robotics, system dynamics and controls, mechatronics, ergonomics and biomechanics. His research received the Best Student Paper Award in 2012 and 2015 at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).