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1. scone-pathological-gait scone-pathological-gait Public

   EPFL BIOENG-404 SCONE assignment: predictive simulation of healthy, heel-walking, toe-walking and crouch gait

   Python

2. ankle-prosthesis-sea-design ankle-prosthesis-sea-design Public

   Utah ME EN 7960 and Notre Dame AME 60553 assignments: series elastic actuator sizing and torque control for a powered ankle prosthesis, from Camargo et al. (2021) gait data

   Python

3. cis-surgical-navigation cis-surgical-navigation Public

   Johns Hopkins EN.601.455/655 Computer Integrated Surgery I (Prof. Russell H. Taylor), programming assignments 1 and 2: frames, point-set registration, pivot calibration, EM distortion correction, a…

   Python

4. cis-surface-registration cis-surface-registration Public

   Johns Hopkins EN.601.455/655 Computer Integrated Surgery I (Prof. Russell H. Taylor), programming assignments 3 to 5: closest point on a mesh, rigid ICP and deformable registration to a statistical…

   Python

5. sharif-medical-robotics sharif-medical-robotics Public

   Lecture notes, slides, readings, homework and exams on medical robotics: kinematics, motion planning, RCM mechanisms, surgical navigation, teleoperation and rehabilitation robotics.

   Python

6. 3-links-robot 3-links-robot Public

   Planar 3-link robot arm: neural-network inverse kinematics with an energy- and smoothness-aware loss, plus Lagrangian (SymPy) vs PyBullet dynamics validation. Joint work with Hadi Dashti.

   Python 1