Department for Automation, Biocybernetics and Robotics





Miha Dežman

Title: MSME (Master of Science in Mechanical Engineering)
Role: PhD Student
E-mail: miha.dezman [at] ijs.si

CV

Research:

Exoskeleton devices with compliant actuators or components, variable stiffness elements, quasi-passive or passive components, springs and clutches. Control of the above devices.

Design of series elastic actuators (SEA) and variable stiffness actuators (VSA).

 

Compliant elbow exoskeleton:

Elbow exoskeletonElbow exoskeleton 01Elbow exoskeleton render

A 1-DOF elbow exoskeleton implementing a mechanically compliant actuator operating on a novel variable stiffness mechanism principle.

 

Quasi-passive ankle exoskeleton:

Ankle exoskeletonQuasi-passive exoskeleton v2 Ankle exoskeleton testing

An ankle exoskeleton prototype was built to aid in walking on flat terain. The user is able to walk up to 12% easier.


Ph.D. thesis

Design and control of compliant wearable robot mechanisms

 

Our research focuses on the design of a mechanically compliant exoskele-
ton device. To that end, a special variable sti ness actuator was devel-
oped with a novel principle of operation and implemented into a 1-DoF
exoskeleton system. The human dons the exoskeleton using a custom
made human-robot interface aimed not at personalization but at me-
chanical adaptivity. The experimental device now serves as a research
platform to facilitate the development of high level control algorithms
using state-of-the-art methods and concepts, including deep learning and
other AI approaches.

 

Skills and expertise

- CREO ProEngineer - design of parts, assemblies with (FEM) strength analysis and design of mechanisms with kinematic and dynamic analysis, and data/results exchange between FEM and mechanism analysis, sheetmetal part design

- Matlab and Simulink, Simulink RealTime, V-REP robotic simulator

- Experience with a milling machine and a lathe, CAM program preparation, use of a CNC milling machine

- Matlab, Python, Lua, C, Latex

- Arduino, BeagleBone Black, custom design of simple electrical circuits

Selected publications

Inproceedings

  • Dežman M., Debevec T., Babič J., Gams A., Effects of passive ankle exoskeleton on human energy expenditure, Advances in robot design and intelligent control : proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, (RAAD), June 30 to July 2nd, 2016, Belgrade, Serbia, 2017, str. 491-498. [More]
  • Dežman M., Babič J., Gams A., Qualitative assessment of a clutch-actuated ankle exoskeleton, 25th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2016, June 30th - July 2nd 2016, Belgrade, Advances in service and industrial robotics : proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, [21-23 June 2017, Torino, Italy], 2017, str. 720-737. [More]
  • Dežman M., Gams A., Pseudo-linear variable lever variable stiffness actuator : design and evaluation, AIM 2017, IEEE International Conference on Advanced Intelligent Mechatronics, July 3-7, 2017, Munich, Germany, Conference digest, 2017, str. 785-790. [More]
  • Dežman M., Debevec T., Babič J., Gams A., Passive ankle exoskeleton : design and practical evaluation, Zbornik : 1. del : part 1, 2016, str. 140-148. [More]
  • Dežman M., Debevec T., Babič J., Gams A., Effects of passive ankle exoskeleton on human energy expenditure : pilot evaluation, 25th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2016, June 30th - July 2nd 2016, Belgrade, Papers, 2016, 8 str.. [More]

Inbook

  • Dežman M., Debevec T., Babič J., Gams A., SI robotika, Vpliv pasivnega gleženjskega eksoskeleta na energijsko porabo človeka pri hoji, 2017, str. 307-316. [More]