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The Robotics And Rehabilitation (RoAR) Lab is focused on developing innovative robots and methods to help humans relearn, restore, or improve functional movements. The lab is housed both in Engineering and Medical campuses of Columbia University. Led by Dr. Sunil Agrawal, the lab works actively with clinical faculty from Columbia University Medical Center and hospitals around New York city. Human studies have targeted elderly subjects and patients with stroke, cerebral palsy, spinal cord injury, Parkinson’s disease, ALS, and others.

Research Projects

Cable-driven Systems

Robots are designed which are controlled by wires (or cables) in tension. A variety of fundamental questions in terms of design, workspace, control, human training have been addressed.

Differential Flatness

Classes of nonlinear dynamic systems can be transformed to linear and controllable forms using static and dynamic feedback.  These structures often arise in dynamic equations of open and closed-chain robots, mobile vehicles, and chemical reactors. In some cases, the dynamic equations of a system may not naturally be in a differentially flat form. However, one can redesign a system through geometry and inertia distribution to make it in a differentially flat form.

Recent Publication

News

A poster entitled "A Novel Dynamic Neck Brace for ALS Patients: Characterizing EMGs during Synchronized Neck Motion" was presented at 28th International Symposium on ALS/MND in Boston during Dec 8-10

The paper described movement and muscle characteristics of 10 ALS patients and 10 age-matched healthy subjects. This data was collected at Eleanor and Lou Gehrig ALS center at Columbia University using the novel neck brace designed at ROAR laboratory. Other studies are also being currently performed using this neck brace at Helen Hayes Medical Center in New York.