I am fascinated by moving mechanisms. In my current role as assistant professor, I try to translate design principles from the precision engineering field to other domains, such as medical devices and agro-food robotics. I am currently involved in two research projects in design of flexure-based grippers. Previously, I worked on medical robots (Msc and PDEng) and on dynamic balance. My interests include flexure-based mechanisms, static and dynamic balance, parallel robotics, kinematics, grippers and screw theory.
FlexCRAFT - Within the FlexCRAFT program we aim to equip robot with flexure-based grippers that are able to handle delicate and deformable objects with varying shapes for the agro-food industry. Additive manufacturing of flexure-based grippers allow for seamless integration of functionalities such as underactuation, adjustable stiffness and joint locking without compromising the strict hygiene requirements. In this program I coordinate the project 'Gripping and manipulation'.
Synergia - Within this project we resesarch flexure-based robotic systems for weeding and harvesting in the open field maintenance operations in greenhouses.
IN-BALANCE - Cycle time reduction of commercial robots require faster robots without compromising the accuracy. Higher velocities and acceleration also increases the reaction force and moments at the base which in turn lead to undesired base vibrations. These vibrations reduce the accuracy of the end-effector and therefore require waiting times to let the vibrations dampen out. Dynamic balancing aims to distribute the mass of the mechanism such that these shaking forces and moments are eliminated. Considering dynamic balance at the beginning of the design process and the use of parallel mechanisms can reduce the complexity and added inertia of the balancing solution.
TMS Robot - A novel robot has been designed for the application of Transcranial magnetic stimulation (TMS) during motion therapies such as treadmill walking. As the velocity of the head during treadmill walking exceeds the velocity safety limits of conventional TMS robots, a novel robot design is required that combines high velocity with intrinsic safety.Side projects
- Plot2LaTeX Exports a figure as a pdf file in vector format for inclusion into LaTeX.