Brain signal decoding
Real-time decoding of leg force
A patient with Parkinson's disease extends the leg at 0%, 33% and 66% of maximum force. Local field potentials from the subthalamic nucleus are decoded into the intended force level as the movement is performed.
Walking, and freezing of gait
The same electrodes during walking, with short and long strides. Freezing episodes are detected from the subthalamic signal as they occur.
Brain dynamics while walking
Subthalamic activity during overground walking with different stride lengths, shown against the movement that produced it.
Non-invasive decoding of movement attempts
A participant with paraplegia attempts to move his own legs. His intention is decoded step by step, and feedback appears for the corresponding leg in real time.
Brain-controlled lower-limb exoskeleton
Five users steer a powered exoskeleton with three commands, obtained by cascading two motor imagery states. A depth camera reports the surrounding objects on a see-through display.
Learning task structure from demonstrations
A robot observes structured demonstrations without being given the rule that generated them. Atomic actions are abstracted into symbols, recurring compounds are discovered, and a task representation is learned from them. The representation supports predicting the next action, rejecting an action that is inconsistent with the task, and following variants of the task that were never demonstrated.
Hierarchical task representation
From a few demonstrations of Towers of Hanoi, the robot infers the structure of the task, then follows and imitates sequences it has never seen, whether longer or simply different, as long as the same structure generates them.
Predicting the next action
The learned representation allows the robot to anticipate the next action rather than react to it. Musical primitives composed by Jonas Golland.
Handmade fun
From student years, sometimes sleeping in the lab.
Quantum, a micromouse
A maze-solving robot on a custom circuit board I designed and soldered.
Goombeng, a line tracer
Paint a line, and it follows anywhere. High-speed line tracing, again on hand-built hardware.
Lightning in rhythm
The swing of a human body, captured at 10 Hz and replayed as electric discharge at 50,000 volts. Made for a class in a fine arts department.