该研究所由8个独立的实验室组成，研究内容从应用在生物医学的纳米设备，到康复系统和自主飞行器，具体的研究方向如下： The institute consists of eight independent laboratories that conduct research in areas ranging from nanodevices for biomedicine, to systems for rehabilitation and autonomous aerial vehicles. The detail research directions are listed as below: (1) 多尺度机器人学实验室（由Bradley Nelson 教授领导）追求一个动态的研究计划，机器人研究重点聚焦于几个新兴的科学和技术领域。实验室的一个主要的研究内容是利用先进的机器人技术制造在微纳米尺度下操作的智能机器，实验室开发用于制造和集成微米尺度的机器人和纳米尺度的机器人组件的工具以及方法，并应用这些系统进行生物医学和生物领域的机器人探索。 (1) The Multi-Scale Robotics Lab (led by Prof. Dr. Bradley Nelson) pursues a dynamic research program that maintains a strong robotics research focus on several emerging areas of science and technology. A major component of the MSRL research leverages advanced robotics for creating intelligent machines that operate at micron and nanometer scales. MSRL research develops the tools and processes required to fabricate and assemble micron sized robots and nanometer scale robotic components. Many of these systems are used for robotic exploration within biomedical and biological domains. (2) 自动化系统实验室（由Roland Siegwart教授带领）旨在创建能够在复杂多样的环境中自主操作的机器人和智能系统。本实验室的兴趣在于机电一体化系统的设计和控制，能够自动适应不同的情况，并应付我们的不确定和动态的日常环境。而且实验室被新奇的机器人概念所吸引，这些机器人最适合在地面、空中和水中表演。该实验室还热衷于给它们在挑战性环境中自主导航赋予智能。这包括感知、抽象、映射和路径规划的新方法和工具。 (2) The Autonomous Systems Lab (led by Prof. Dr. Roland Siegwart) aims to create robots and intelligent systems that are able to autonomously operate in complex and diverse environments. The lab is interested in the mechatronic design and control of systems that autonomously adapt to different situations and cope with our uncertain and dynamic daily environment. And the lab is fascinated by novel robot concepts that are best adapted for acting on the ground, in the air and in the water. The lab is furthermore keen to give them the intelligence to autonomously navigate in challenging environments. This includes novel methods and tools for perception, abstraction, mapping and path planning. (3) 感知-运动系统实验室（由Robert Riener教授领导），研究感知-运动在人与机器的交互中的行为。人体传感器（接受器）记录人体和周围环境的物理状态。感觉信息是由人的中枢神经系统感知的。人类认知需要解释感知信息并产生运动反应。类似地，在机器中，传感器检测机器的状态及其环境。传感器数据被处理用于驱动执行器并显示。人和机器可以通过感觉和运动通道相互作用。该实验室的重点是人类感觉运动控制的研究，新型机电一体化机器的设计，以及人机交互的调查和优化。主要应用领域是康复和体育领域。 (3) Sensory-Motor Systems Lab (led by Prof. Dr. Robert Riener) investigate the sensory-motor actions in and interactions between humans and machines. Human sensors (receptors) record the physical state of the human body and the surrounding environment. Sensory information is perceived by the human central nervous system. Human cognition is required to interpret the perceived information and generate a motor reaction. Similarly, in machines technical sensors detect the state of the machine and its environment. Sensor data is processed in order to drive actuators and displays. Human and machine can interact with each other via their sensory and motor channels. The lab focuses on the study of human sensory-motor control, the design of novel mechatronic machines, and the investigation and optimisation of human-machine interaction. Main application areas are the fields of rehabilitation and sports. (4) 康复工程实验室（由Roger Gassert教授领导）主要研究神经科学机器人领域。这一新兴领域将对人类感觉运动控制的神经机制及其与年龄或局灶脑损伤后的重组作出新的见解，从而有助于运动功能的诊断、评估和训练。本实验室采用把机器人技术与心理物理学和认知神经科学相结合，发展临床评估诊断和治疗提供辅助工具，进而促进回复，以及帮助残疾人融入社会。此外，该实验室还对手功能、触觉反馈如何有助于运动学习、康复治疗和人机交互等技术进行研究。 (4) The Rehabilitation Engineering Lab (led by Prof. Dr. Roger Gassert) focus on the field of neuroscience robotics. This emerging field promises novel insights into the neural mechanisms of human sensorimotor control and their reorganization with age or after focal brain injury, and can thus be beneficial to the diagnosis, assessment and retraining of motor function. This lab uses a combined approach of robotics, psychophysics and cognitive neuroscience to develop and clinically evaluate diagnostic, therapeutic and assistive tools in order to promote recovery, independence and social integration of the physically disabled. The lab is especially interested in hand function, and how haptic feedback can benefit motor learning, rehabilitation therapy, and human-machine interaction. (5) 敏捷和灵巧机器人实验室（由Jonas Buchli教授带领）开发基于模型和无模型的控制和机器学习的方法，使具有手臂和腿的机器人在动态的复杂环境中能够稳定、敏捷地行走和操作。这些环境需要通用的控制方法实施全身控制。为了获得更好的运动性能，实验室采用自适应和学习方法对机器人进行了提升。他们开发了强化学习算法，使机器人的性能与人类从经验中学习的技能差不多。这项研究可应用与移动操作，抓取，腿运动，假肢，区域/空间机器人，生物力学和仿生机器人技术。 (5) The Agile and Dexterous Robotics Laboratory (led by Prof. Dr. Jonas Buchli) develops model-based and model-free control and machine learning methods that enable robots with arms and legs to roam and manipulate dynamice and complex environments robustly and with agility. These environments require generalized approaches to impedance and whole body control. To achieve robust performance the lab complements robots with adaptive and learning methods. They develop reinforcement learning algorithms, whereby a robot improves its performance in much the same way humans learn highly developed skills from experience. The research has applications in mobile manipulation, grasping, legged locomotion, prosthetics, field/space robotics, bio-mechanics and bio-inspired robotics. (6) 移动医疗系统实验室（由Walter Karlen教授带领）从事各种研究来提高移动机器人性能，从而提供更好的健康护理服务。该实验室开发了个性化和高效的方法、设备和系统，可供任何人在健康护理时使用。他们目前的研究主要有三个方面：新的移动医疗传感器和系统、智能诊断、以及移动医疗服务。 (6) The Mobile Health Systems Lab (led by Prof. Dr. Walter Karlen) engages in various research initiatives to improve the technologies and services of mobile health, which is the use of mobile devices for better health care delivery. The lab develops personalized and efficient methods, devices and systems that can be used by anyone for health applications at the point-of-care. They current focus is in three research areas, all funded through the Swiss National Science Foundation: Novel mHealth Sensor and Systems, Intelligent Diagnostics, and Quality Assurance in mHealth. (7) 机器人视觉实验室（由Margarita Chli教授带领）为机器人研究开发视觉感知能力，从计算机视觉，机器学习，神经系统科学等学科中汲取灵感。实验室致力于小型旋翼无人机的研发，其最大直径50cm，是最敏捷和具有挑战性的，且应用范围很广的平台。由于有限的计算、功率与负载能力，能够在单片机上实时运行的传感器和算法的选择是他们面临的真正挑战；但在实际中使用这种系统具有很大的影响力，如考古遗址数字化、搜索和救援、工业检测。实验室旨在对机器人的环境信息实现及时快速处理，并且研究不同的机器人之间的合作、分析图像流和各传感器采集到的信息，为他们提供必要的自动化导航和与环境交互的信息。 (7) The Vision for Robotics Lab (led by Prof. Dr. Margarita Chli) researches and develops vision-based perception capabilities for robots drawing inspiration from disciplines such Computer Vision, Machine Learning and Neuroscience. As some of the most agile and challenging platforms with a wide range of applications, the lab has a focus on small rotorcraft vehicles (drones) of maximum 50cm in diameter. With limited computational, power and weight capabilities, the choice of sensors and algorithms able to run onboard and in real-time is the real challenge they are faced with; albeit at the promise of high impact in the use of such systems in real tasks, such as archaeological site digitisation, search-and-rescue or industrial inspection. Studying the collaboration among different robots and analysing the image stream and all sensor cues as they are being captured, the lab aims to achieve a timely and rich enough understanding of the robots' surroundings in order to provide them with the information necessary to automate their navigation and their interaction with their environment. (8) 机器人系统实验室（由Marco Hutter教授领导）研究机器及其智能化的发展，以便于在粗糙的和具有挑战性的环境中工作。随着对具有手臂和腿的机器人的大量关注，实验室的研究包括具有先进的动态交互能力的驱动方法，增加系统移动性和多功能性的创新设计，以及用于运动和操作的控制和优化算法。为了寻找好的解决方案，实验室从人类和动物身上获得灵感，目的是提高复杂机器人系统的技能和自主性，使之适用于各种现实场景。 (8) The Robotic Systems Lab (led by Prof. Dr. Marco Hutter) investigates the development of machines and their intelligence to operate in rough and challenging environments. With a large focus on robots with arms and legs, the lab’s research includes novel actuation methods for advanced dynamic interaction, innovative designs for increased system mobility and versatility, and new control and optimization algorithms for locomotion and manipulation. In search of clever solutions, the lab takes inspiration from humans and animals with the goal to improve the skills and autonomy of complex robotic systems to make them applicable in various real-world scenarios. |
