Soft Robotics Suit (2010-) for physical therapy & rehabilitation,
everyday assistance, physical augmentation, teleoperation of real and virtual objects with force/haptic feedback, 3D Internet --
see Unified Media (UnMe), term coined by Dr Popovic in ‘09.
Dr Popovic led groups at WPI (Blumenau et al ‘11)
and Harvard (Kesner et al ‘11) to obtain basic proofs of
concept for this novel approach. All these were made possible with only $2K from the American Institute of Physics and two motors generously donated by Maxon.
See for example movie Weight Lifting with Soft Robotics Suit controlled
on distance (shoulder robotic brace with embedded artificial muscles & tendons on top of passive mannequin with rigid limbs) joint work with Robert Howe, Harvard,
and Ignacio Galiana, Universidad Politécnica de Madrid.
Complex systems' dynamics research
applied to simulation of rapidly growing on-line business network; presented at the Summit Conference Series
Future Networks: Economy, Energy, Health held at
MIT on October 2, 2009. See webcast
and BB page.
Internet/Web based platforms/networks and research with the
MIT Center for Future Banking (CFB).
Dr Popovic helped build CFB (Bank of America $25 million initiative) as its first Projects Manager.
Proposal Business Project Book('08) on how technology may assist the handicapped economy and the CFB's summer '08 projects (majority envisioned/set forth by Dr Popovic) are appended below.
Leg" i.e. actively powered prosthetic ankle and foot -- the best invention of
the year in the Health Science and Technology according to TIME
magazine and CNN (2007). Time Magazine announcement Dr Popovic contribution
was in biomechanics, control and early stage device design. Team that worked on this project includes: Hugh Herr (project manager), Samuel Au, Jeff Weber, Chris Barnhart, Max Bernike, Bruce Deffenbaugh etc. (click
on images to download movies)
Samuel Au and Hugh Herr are testing
one of the first prototypes (Fall 06).
Ground contact in slow motion
(sometimes even milliseconds are important)
EMG based control Amputee
controls prosthesis by thinking of moving phantom
EMG control on distance
Remote robotic foot detects Jeff Weber's movement
Locomotion. Postures/gestures. Dynamic Balance. Body movements require rapid control of number of
mechanical degrees of freedom (via biological muscles or artificial actuators) for an immense variety of intended tasks and
complex world (ambience/terrain) conditions -- extremely hard, computationally intense problem for a simple brute-force
search / path optimization of the control Lagrangian function. Dr Popovic
is researching human biomechanics and neural circuitry to find the underlying "principles/laws". Dr Popovic is then applying that knowledge for design/control of robotic/assistive/augmentative technologies and advancement of health sciences.
Dynamic balance example - "loose"
Biologically-inspired tight rope
walking (real-time simulation).
walking, 16 segment full dynamics model, Coronal plane
walking, 16 segment full dynamics model, Sagittal plane
following movies were made by Andreas Hofmann: walking on the rough
terrain [mov A], [mov B] and under disturbance [mov].
Hula-hoop movements, 16 segment full dynamics model, 3
few amateur karate punches in 3D VICON body
Dynamic Balance Zero
Moment and Moment strategy.
Exp proof on ZMP &
balance Correcting ~3,000 top
publications in robotics literature.
Internomics How do high-level cognitive functions
emerge from primitive neural computations? Teamed with Ed Boyden,
Dan Ariely, Deb Roy, James D. Barabas, Barbara Barry, Deborah Egloff,
Nathan Greenslit, and Sheng-Ying Pao, Dr Popovic studies, among other,
effects of oxytocin -- mammalian hormone that also acts as a neurotransmitter
in the brain
(also called LOVE hormone). Developing precise, focal ways of
investigating phenomena such as trust and risk-taking, in order to
understand how they play roles in various decision-making,
investment strategies and other important real-world scenarios. [READ MORE]
The One Laptop Per Child
(2007) Dr Marko Popovic, in collaboration with Colin Bulthaup
and Hugh Herr, tested metabolic consumption, power generation and
efficiency of energy generating peripherals (with experiment
participants age 8-12). Dr Marko Popovic, in collaboration with
Bruce Deffenbaugh and Lee Magnusson, tested electromechanical
properties of the pull-cord and crank devices and proposed
improvements. Presented by Marko Popovic (together with an
introduction to the H2.0 event ) at the MIT Media Lab - OLPC summit
(March 2007). The XO laptop was the best invention in category
COMPUTERS. Time Magazine announcement
Robotic Soccer/Beach Ball Dr Popovic and Susanne Seitinger
designed and constructed lively self-propelled robotic soccer/beach
ball (in a single week in summer '05) and then had some fun testing
them on the MIT campus. Cornelle King gentlemanly assisted ball to enter
Responsive Playground Teamed with Susanne Seitinger,
Elizabeth Sylvan, Orit Zuckerman, and Oren Zuckerman, Dr Marko
Popovic designed and constructed an interactive, pressure sensitive
pathway with LEGO Mindstorm spinners that were actuated based on
children's spatial location and speed. The diverse play
patterns (like active play, fantasy play, exploring how things
work and game-building), individual and collective behavior,
of twenty children age three to five enrolled in a preschool
childcare center were subsequently studied.
- Angular Momentum Primitives: Modeling of
Transients in Human Walking (joint work with Matthew Todd Farrell
and Hugh Herr).
- Bipedal Balancing Using Integrated Movement of
Non-Contact Limbs (joint work with Andreas Hofmann and Hugh Herr).
- Humanoid Walking Control Using Angular Momentum Partition
(joint work with Hugh Herr).
- Leg Orthosis: Assisting in the
design of the powered hip-knee-ankle orthosis to assist individuals
suffering from neuromuscular disorders (joint work with P. Dilworth,
H. Herr etc). [READ MORE]
- Kajita, Popovic, HRP2, and
Tedrake in AIST, Tsukuba, Japan. [PHOTO] Wonderful movie with HRP2 dancing. [MOVIE]
Balance Platform and Dynamic Balance Dr Popovic studied
cognitive process of adaptation/learning to novel conditions/tasks.
Utilized MIT Computer Science and Artificial Intelligence Holodeck
room equipped with VICON motion capture system (120 Hz, 1mm
precision) and the "extreme balance platform". Joint work with Todd
Farell, L. Velti Santos and Walter Bender ('05). In the VICON body
representation [MOVIE 0] and [MOVIE 1].
Human-carrying Platform Dr Popovic and Ernesto
Martinez build a first prototype of human-carrying platform to study
human balance under disturbances (for only $3K total). Goal was to
build the state-of-the-art scientific tool for biomechanics / neural
control of movements' studies. Planned to carry this concept further
and develop a multidirectional walking platform that can be
integrated to media-unified VR system. (Realized soon that $3K was
not enough) [PHOTO]
System Dr Popovic and Todd Farell developed a first prototype of
simple vision system utilizing single stereoscopic camera and
algorithm originally created by D. Demirdjian from CSAIL. This
vision system was encoding posture information in real time (though
at low frequencies & with substantial joint angles' errors). [PHOTO]
Muscle Hardware design, manufacture and assembly of experimental
testing apparatus for DARPA Artificial Muscle Project (Joint work
with Waleed Farahat, Ph.D. and several MIT's Undergraduate Research
Opportunities Program students); tested liquid crystal elastomer
thermo-mechanical properties. [PHOTO]
Artificial Finger Designed and constructed lively
artificial finger actuated via artificial muscle. [PHOTO]
Before that (till ~2002) Dr Marko Popovic's research has been focused
on a very small space-time scales and search for the so-called Higgs particle and
physics beyond (one-page) Standard Model of Particle Physics. Dr Popovic
built several models predicting new strong interactions that may
help answer why there is a surprisingly huge energy gap between the Planck gravity scale
(~10^19 GeV) and the Electroweak symmetry breaking scale (vev~246
GeV) and also why top quark has unusually large mass (~vev/sqrt(2)).
To be tested at CERN LHC soon.
A few other
Biomechatronics Group -- Technology Review, The MIT
Insider, Upland Productions (Professional reporting) Walled Farahat,
Dan Paluska and Hugh Herr in this video. [MOVIE]
BioMechatronics The Movie -- Local Media Lab
productions; funny movie in the Monty Python style. Fictional
content -- Biomechatronics Group is all about helping people
and not about hurting / controlling them! Ones creating technologies
for the benefit of humanity are allowed to make fun of themselves.
Get back up Truly inspirational video, especially for
those working on bionic limbs. Australia born Nick Vujicic ('82) of
Serbian origin is a motivational speaker and director of Life
Without Limbs, an organization for the physically disabled. [Youtube] or [MOVIE]
Cool mobile (mostly legged) robots:
ASIMO new version
TOYOTA Robina plays violin
Dancing Sony Robots
Boston Dynamics' PETMAN
Boston Dynamics' BIG DOG
MIT Leg Lab M2
MIT M2 portrait
MIT Leg Lab Troody
MIT Leg Lab Spring Flamingo
MIT Leg Lab Hopper
Talks & Lectures:
biomechanics teaches us about biped control design,"
International Conference on Robotics: Science and Systems,
Workshop: Learning for Locomotion, MIT June 11, 2005.
(joint work with A. Hofmann and H. Herr, presented by H. Herr) [PPT presentation]
movie 1 Man on the tight rope
movie 2 Balance Test
movie 3 Lateral Push & Fall
movie 4 Lateral Push & Walk
movie 5 Trip & Walk
prosthetics," Med Development Group meeting at the Silicon
Valley Bank, Massachusetts, April, 2005. (joint work with
Biomechatronics group, presented by M. B. Popovic) [PPT presentation]
movie 1 Ankle-Foot Orthosis (AFO) &
movie 2 Variable-Damper Knee Prosthesis
movie 3 Muscle-actuated robotic fish
movie 4 Muscle testing apparatus
movie 5 Lateral Balance
movie 6 Sagittal Balance
movie 7 Tight Rope Balancing (slow
movie 8 Tight Rope Balancing (real
Realistic Humanoid Robot Control," Graphics and Vision Group
meeting , Computer Science and Artificial Intelligence Lab, MIT,
March, 2005. (joint work with H. Herr, presented by M. B. Popovic)
movie 1 Hulahop in Sagittal Plane
movie 2 Hulahop in Coronal Plane
movie 3 Walking in Sagittal Plane
movie 4 Walking in Coronal Plane
Momentum Primitives for Human Walking: Biomechanics and Control,"
International Conference on Intelligent Robots and Systems ,
Sendai, Japan, October, 2004. (joint work with A. Englehart and H.
Herr, presented by M. B. Popovic) [PPT presentation]
movie Walking in real time
Momentum Regulation during Human Walking: Biomechanics and Control,"
International Conference on Robotics and Automation , New
Orleans, LA, April, 2004. (joint work with A. Hofmann and H. Herr,
presented by M. B. Popovic) [PPT presentation]
Movement Control: The Regulation of Angular Momentum in the CM
frame," NeuroMuscular Research Center Lecture Series , Boston
University, Boston, March, 2003. (joint work with H. Herr, presented
by M. B. Popovic) [PPT