Ravi Balasubramanian

Assistant Professor
School of Mechanical, Industrial, and Manufacturing Engineering
Oregon State University

Welcome to my website! I am an Assistant Professor in the School of Mechanical, Industrial, and Manufacturing Engineering at Oregon State University. I direct the Robotics and Human Control Systems Lab, as part of the OSU robotics group. Previously, I was an Associate Research Scientist in Mechanical Engineering at Yale University, associated with the Grab Lab. Before that I was a post-doctoral fellow at the University of Washington Neurobotics Lab with Prof. Yoky Matsuoka. I received my PhD from the Robotics Institute at Carnegie Mellon working with Prof. Matthew T. Mason and Dr. Alfred Rizzi.

1. The surgical implant project work has been featured in IBNLive (India), Engineering.com, Gizmag, Innovation Toronto, News-Medical, Times of India, NDTV, and KPNW radio (Eugene).
2. Team ViGIR, in which OSU plays a role, has published a video in Humanoids 2014 on the "hose task" from the DARPA Robotics Challenge.
3. Our group has a late-breaking results paper in Human Computation 2014, where we compare automated grasp planning methods with crowd-sourced grasp planning using Mechanical Turk. PDF. Here is the PopSci coverage of it.
4. Our group has published our DARPA Robotics Challenge work as part of Team ViGIR in the Journal of Field Robotics. PDF.
5. Our group is thrilled to publish a paper on our implant development work in the journal Hand, which is the primary research journal of the American Association for Hand Surgery. Online First link.
6. Our group will present a paper at CMBBE 2014 in October on developing passive implants for scaling up forces inside the human hand following tendon-transfer surgery. Abstract coming soon.
7. Our group had three posters on our implant development work in the World Congress on Biomechanics held in Boston, MA in July 2014.
8. Our group will present a paper on advancing robotic grasping in the main program at IROS 2014 and a paper at the Workshop on Rehabilitation and Assistive Robotics. Grasping paper PDF, Implant Paper PDF.
9. Our group is participating in the DARPA Robotics Challenge finals as part of Team ViGIR. Students from our lab are implementing grasping and manipulation algorithms on the robot. Go Team ViGIR!
10. Springer is publishing a book that I co-edited with Veronica Santos of Arizona State University on how the human hand has inspired robot hand development over the decades. Thanks to the wonderful authors who contributed chapters. Available early 2014!
11. Jade Montgomery, an undergraduate research assistant in our lab, received the Undergraduate Researcher of the Year award and Best Poster Award from the OSU College of Engineering for her honors thesis work in our lab on using implanted mechanisms in tendon-transfer surgery. Congratulations Jade!
12. Our paper on using implanted passive engineering mechanisms to improve the robustness of tendon-transfer surgery has was presented at the Hamlyn Symposium on Medical Robotics. (PDF)
13. Our paper on using implanted passive engineering mechanisms to advance tendon-transfer surgery was presented at the International Symposium on Computer Methods in Biomechanics and Biomedical Engineering (CMBBE 2013). (PDF).
14. Our group is excited to participate in the OpenSim workshop in March 2013. I received the Outstanding Researcher Award from the NIH National Center for Simulation in Rehabilitation Research.
15. Check out our papers on incorporating variable transmission mechanisms in the design of underactuated robot hands for improving grasp robustness (IROS 2012) and enabling sensorless transitioning from a pinch grasp to a power grasp (ReMAR 2012).

B Eng. (Hon, 2000), M.Eng (2000), Mechanical Engineering, National University of Singapore.
MS (2003), PhD, Robotics (2006), Carnegie Mellon University.

Robotic Manipulation and Locomotion
Human Control Systems (Hand biomechanics, skill Acquisition, and control execution)
Human-Robot Interaction
Kinematics, Dynamics, and Controls
Jump to the research page; publications page.

ENGR 212: Dynamics
ME 430/ECE 451: System Dynamics and Controls
ME 533: Nonlinear Dynamics
ROB 599: Human Control Systems
(Lecture notes)

Associate Editor, Journal of Medical Robotics Research, since January 2015.
Program Committee, Robotics: Science and Systems, since 2007
Reviewer for several robotics conferences since 2001 (ICRA, IROS, BioRob, ASME IDETC).
Reviewer for Journal of Neurophysiology, Journal of Nonlinear Dynamics, International Journal of Robotics Research, Autonomous Robots.

I have been performing an Indian classical percussion instrument called the Ghatam for over seventeen years. Check out my music page and this fun article in the Sruti magazine.

Contact: ravi.balasubramanian at oregonstate.edu