Research
We work where motor neuroscience and robot control meet — using geometry as the common language between them.
Movement looks simple from the outside and is anything but underneath. A reach to a cup is a trajectory through a curved, high-dimensional space, produced by a controller that never solves an inverse problem exactly and yet almost never fails. Our work asks what that controller is doing, and what a robot would have to do to match it.
Projects
The Geometry of Human Movement
Describing spatial arm motion with differential geometry, so the description does not depend on the coordinate frame you happened to choose.
Robot controlControl for Contact-Rich Manipulation
Impedance and energy-aware control that lets a robot meet an unpredictable world without needing to model it perfectly.
NeuroscienceFrom Neural Dynamics to Recovery
Applying the same geometric tools to neural population activity, toward biomarkers that track recovery after neurological injury.