Motor Learning and Robotics Lab

Explore our research covering a range of periods in brain development as well as different motor systems
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Research in the Motor Learning and Robotics Lab covers a range of periods in brain development as well as different motor systems: from the acquisition of speech in infants to the learning of novel arm movement in adults.
We have designed and built a range of robotic interfaces which have facilitated research both in our laboratory and in groups in the UK and internationally. In addition, we run experiments with human participants to investigate and better understand the human sensorimotor system.

Research areas

Motor neuroscience research on human participants

  • Contextual effects in motor dynamic learning
  • Control of bimanual movements
  • Computational models of human motor control

Speech research

  • Computational modelling of infant speech acquisition
  • Speech analysis using DNNs to estimate voicing parameters and pathology
  • Robotic speech synthesis

Technical and robot development

  • Developing inverted pendulum rigs to investigate balancing
  • Investigate control using agonist-antagonistic tendon drive
  • Developing state-of-the-art 2D robotic interfaces
  • Developing three dimensional robotic interfaces

Explore some of the latest robotic developments

Tendon co-contraction rig
Tendon co-contraction rig
This can be used to examine strategies to control and modulate the stiffness of a single link robot arm
Inverted pendulum rig
Inverted pendulum rig
These are more sophistically version of the inverted pendulums use for teaching and can be used to both examine control algorithms and different approaches to reinforcement learning
3DOF robotic manipulandum arm
3DOF robotic manipulandum arm
This is a smaller 3DOF robotic manipulandum arm design using a 3D printed construction. It can also operate as a torque-controlled 3DOF robotic arm and be used to investigate robot control strategies
Worm-drive robotic arm
Worm-drive robotic arm
This is 3D printed 3DOF arm that is actuated using worm-drive motors. It can be used to investigate robot control strategies needed to generate 3D movements and perform pick-and-place tasks
Pick and place gripper end effector for robotic arm
Pick and place gripper end effector for robotic arm
This is a 3D printed gripper that is operated using an RC servo. It uses a dovetail attachment point and can easily be fitted to the 3DOF robot arms described above
vbot
vBOT rig with a participant is performing a 2-part movement task
The vBOT is a custom-built back-drivable 2 degree of freedom planar robotic device with a handle at its endpoint that human participants hold with their hand
 

Publications on robotic developments

Álvarez-Hidalgo, L., & Howard, I. (2023). Dual Mode Control of an Inverted Pendulum: Design, Analysis and Experimental Evaluation, Advances in Science, Technology and Engineering Systems Journal Vol. 8, No. 6, 120-143 (2023).
Howard, I. S. (2023, September). Design and Kinematic Analysis of a 3D-Printed 3DOF Robotic Manipulandum. In Annual Conference Towards Autonomous Robotic Systems (pp. 227-239). Cham: Springer Nature Switzerland.
Howard, I. S. (2023). Design and Prototyping of a 3DOF Worm-drive Robot Arm, Advances in Science, Technology and Engineering Systems Journal Vol. 8, No.5, 77-93 (2023).
Howard, I. S. (2023). Design and Prototyping of a 3DOF Worm-drive Robot Arm, Advances in Science, Technology and Engineering Systems Journal Vol. 8, No.5, 77-93 (2023).
Howard, I. S., & Stoelen, M. F. (2021). State space analysis of variable-stiffness tendon drive with non-back-drivable worm-gear motor actuation. In Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings 22 (pp. 294-303). Springer International Publishing.
Howard, I. S., & Stoelen, M. F. (2021). EtherCAT implementation of a variable-stiffness tendon drive with non-back-drivable worm-gear motor actuation. In Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings 22 (pp. 381-390). Springer International Publishing.
Howard, I. S., Ingram, J. N., & Wolpert, D. M. (2009). A modular planar robotic manipulandum with end-point torque control. Journal of neuroscience methods, 181(2), 199-211.
 

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