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. I did my undergraduate degree in Mechanical Engineering at National University of Singapore. I come from the city of Chennai in India.

News!
1. We are presenting papers at the Orthopedic Research Society's International Musculoskeletal Biology Workshop and the Military Health System Research Symposium on our live-animal studies validating differential-mechanism implants for orthopedic surgery.
2. We are presenting a paper at the American Society of Biomechanics 2017 meeting that validates a force-scaling mechanism
for foot-arch restoration and a robotic-gait simulator.
3. We presented two papers at the Veterinary Orthopedic Society 2017 on our live-animal studies.

4. In 2016, I received the NSF CAREER award for developing implantable passive mechanisms for orthopedic surgery. Info on the CAREER award.
5. We published a paper in the ACM Symposium on Applied Perception on tracking human eye gaze during grasping operations when using either (their own) human hand or a robot hand. (PDF)
6. We published a paper in the AAAI Fall Symposium on AI for Human Robot Interaction on the topic of advancing robotic grasping using human-planned grasp ranges. PDF coming soon.
7. Our paper on using an implantable mechanism to improve foot-arch restoration surgery has been accepted for a podium presentation in the Orthopedic Research Society's annual meeting in March 2016. Joint work with William Ledoux from VA Seattle. PDF
8. We published a journal paper in the IEEE Transactions on Biomedical Engineering on modeling implantable mechanisms for orthopedic surgery in OpenSim. PDF.
9. We published two papers on the bioethics of developing implantable mechanisms, one in the International Conference on Ethics in Biology, Engineering, and Medicine and another in the journal of Ethics in Engineering Biology and Medicine. Link to PDF
10.We published a journal paper in Autonomous Robots on using machine learning to improve robotic grasping. PDF
11. We published a journal paper on linear and revolute underactuated grippers for steel foundry operations. Link to PDF
12. Our group received the NSF I-Corps grant to explore commercialization of implantable mechanisms for orthopedic surgery.
13. 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).
14. Team ViGIR, in which OSU plays a role, has published a video in Humanoids 2014 on the "hose task" from the DARPA Robotics Challenge.
15. Our group has published our DARPA Robotics Challenge work as part of Team ViGIR in the Journal of Field Robotics. PDF.
16. Our group is thrilled to publish a paper on our implant development work in the journal Hand, which is the flagship journal of the American Association for Hand Surgery. PDF
17. Our group participated in the DARPA Robotics Challenge finals as part of Team ViGIR. Students from our lab implemented grasping and manipulation algorithms on the ATLAS robot. Go Team ViGIR!
18. Springer has published 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. This book has seen over 44,000 chapter downloads since 2014!
19. In 2013, I received the Outstanding Researcher Award from the NIH National Center for Simulation in Rehabilitation Research.


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

Research
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.

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

Funding
National Science Foundation, Department of Defense, TORC Robotics, ESCO Corp, Boeing Portland, Oregon Metals Initiative, OSU Venture Development Fund, OSU School of Mechanical, Industrial, and Manufacturing Engineering.

Service
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.

Music
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