Control Systems Lab

Research Area

Neurorobotics

Research in this group focuses on the control of robotic manipulators and hands with anthropomorphic characteristics. The team captures human arm and hand motion to design bio-inspired control systems and uses peripheral nervous system signals (sEMG) for teleoperation.

Office

Mechanical Engineering Complex, Building M, Basement

Phone

+30-210-772-4012

Personnel

  • Undergraduate Students: George Kontoudis, Agisilaos Zisimatos, Zoe Trahana

Equipment

PA-10 Robot Arm (Mitsubishi Heavy Industries)

PA-10 Robot Arm (Mitsubishi Heavy Industries)

  • 7 DoF, 40 kg, 10 kg load capacity
  • Back-drivable harmonic drives
  • PC communication at 500 Hz
  • Used for neuro-robotic control via sEMG: real-time continuous 3D teleoperation and torque control
DLR-HIT-II Robot Hand

DLR-HIT-II Robot Hand

  • Five modular fingers, four joints each (3 DoF)
  • 15 motors, brushless DC, digital hall sensors
  • Absolute angle sensors and strain-gauge torque sensors
  • High-speed real-time communication via FPGA
Bagnoli-16 EMG System (Delsys)

Bagnoli-16 EMG System (Delsys)

  • 16 EMG channels
  • Bandwidth 20–450 Hz
  • Bipolar single differential surface electrodes
  • Upper-limb muscle signal recording, 1 kHz digitization
Active-Two EEG System (Biosemi)

Active-Two EEG System (Biosemi)

  • 32+8 electrode + 7 sensor channels
  • 2nd-gen active electrodes
  • Suitable for EEG/ECG/EMG
  • 24-bit ADC, LSB 31 nV
  • Full DC operation (524 mVpp)
  • Sample rates 2/4/8/16 kHz/channel
Cyberglove II Data Glove (Cyberglove Systems)

Cyberglove II Data Glove (Cyberglove Systems)

  • 22 sensors: 3 flexion per finger, 4 abduction, palm-arch, wrist
  • Motion capture for biomechanics and animation
Isotrak II Position Tracking (Polhemus)

Isotrak II Position Tracking (Polhemus)

  • 2 position sensors, 30 Hz
  • Static accuracy 0.1 in RMS (X,Y,Z); 0.75° RMS orientation
  • Range up to 5 ft
  • Records 3D upper-limb motion for joint-angle computation and motion decoding
6-Axis Force-Torque Sensor (JR3)

6-Axis Force-Torque Sensor (JR3)

  • 67 mm × 25 mm
  • Load ratings 15, 25, 50 lbs
  • Force control during interaction
Tekscan Grip System

Tekscan Grip System

  • Thin, high-resolution tactile pressure sensor
  • Static and dynamic pressure profiles for grasping
Mechatronic Skin

Mechatronic Skin

  • Sensor 9.14 × 5.59 × 3.25 mm
  • Sensitivity 0.10–0.14 mV/g
  • Operating force 0–1500 g, overforce 4500 g
  • 74 sensors (24 forearm + 50 wrist emulation)
  • Compliant behavior and obstacle avoidance