|
Personal History
Dr. Anindo Roy is an Assistant Professor of Neurology in the University of Maryland, School of Medicine and holds an adjunct appointment of Robotics Engineer at the Maryland Exercise and Robotics Center of Excellence located at Baltimore Veterans Affairs Medical Center.
Prior to his current position he has held prestigious postdoctoral fellowships at Georgia Institute of Technology and at the Massachusetts Institute of Technology. His research at Georgia Tech focused on studying neuromechanical influences on muscle coordination during balance and locomotion with the overall goal to better characterize and model normal and impaired performance of fundamental motor tasks. At MIT, he was instrumental in furthering engineering design and development of a novel ankle robot. Since assuming his current position, his work has included development of novel robot-assisted seated training interventions as well as control algorithms for treadmill-based and over ground locomotor training.
Dr. Roy has published more than twenty scientific articles in high-impact peer-reviewed journals and conference proceedings in human biomechanics, biological control systems, and neurorehabilitation. Dr. Roy’s research has been widely reported in the media, both print and television, including the VA Research Currents, Yahoo News, and Baltimore’s Fox 45 news. Dr. Roy's current research focuses on modeling the biomechanics of impaired human gait coupled with developing more efficient robot-assisted control strategies for stroke neurorehabilitation.
Research Interests
Biomechanical modeling of gait, posture, and balance; rehabilitation robotics; mathematical and physical modeling of complex dynamical systems; motor control and learning.Clinical Speciality
Neurological disordersPublications
PEER-REVIEWED JOURNAL ARTICLES
Roy, A., Forrester, L.W., Bever, C.T., Macko, R.M., and Krebs, H.I. “Changes in Passive Ankle Stiffness and Its Effects on Gait Function in Chronic Stroke Following a Six-Week Ankle Robot Intervention Program,” Stroke (In-review as of May 2011).Roy, A., Krebs, H.I., Patterson, S.L., Bever, C.T., Forrester, L.W., Macko, R.M, and Hogan, N. "Measurement of Passive Ankle Stiffness in Subjects with Hemiparetic Stroke using a Novel Ankle Robot," Journal of Neurophysiology, vol. 105, pp. 2132-2149, 2011.
Roy, A., Macko, R.M., Krebs, H.I., and Forrester, L.W. “Short-term ankle motor performance with ankle robotics training in chronic hemiparetic stroke,” Journal of Rehabilitation Research and Development, vol. 48, pp. 417-430, 2011.
Forrester, L.W., Roy, A., Krebs, H.I., and Macko, R.M. “Ankle Training with a Robotic Device Improves Hemiparetic Gait after a Stroke,” Neurorehabilitation and Neural Repair, vol. 25, pp. 369-377, 2010.
Khanna, I., Roy, A., Rodgers, M.M., Macko, R.M., Krebs, H.I., and Forrester, L.W. “Effects of Unilateral Robotic Limb Loading on Gait Characteristics in Subjects with Chronic Stroke,” Journal of NeuroEngineering and Rehabilitation, vol. 7, no. 23, 2010 (doi: 10.1186/1743-0003-7-23).
Roy, A., Krebs, H.I., Williams, D.J., Bever, C.T., Forrester, L.W., Macko, R.M, and Hogan, N. "Robot-aided Neurorehabilitation: A Robot for Ankle Rehabilitation," IEEE Transactions on Robotics, vol. 25, pp. 569-582, 2009.
Iqbal, K. and Roy, A. “Theoretical framework for the dynamic stability analysis, movement control, and trajectory generation of a multi-segment biomechanical model,” ASME Transactions on Biomechanical Engineering, vol. 131, pp. 1-13, 2009.
Roy, A. and Iqbal, K., "PID Controller Tuning for First-Order-Plus-Dead-Time Process via Hermite-Biehler Theorem," ISA Transactions, vol. 44, pp. 363-378, 2005.
Iqbal, K. and Roy, A. "Stabilizing PID Controllers for an Inverted Pendulum-based Biomechanical Model with Position, Velocity, and Force Feedback," ASME Transactions on Biomechanical Engineering, vol. 126, pp. 838-843, 2004.
Roy, A. and Iqbal, K. "PID Stabilization of a Position-Controlled Manipulator with Wrist Sensor," Society of Manufacturing Engineers Technical Paper, vol. 129, pp. 1-7, 2003.
Roy, A. and Iqbal, K. "PID Stabilization of a Position-Controlled Robot Manipulator Acting Independently or in Collaboration with Human Arm," Journal of Arkansas Academy of Science, vol. 57, pp. 131-139, 2003.
BOOK CHAPTERS
Krebs HI, Roy A, Artemiadis PK, Ahn J, Hogan N. "Beyond Human or Robot Administered Treadmill Training" In: Neurorehabilitation Technology, Dietz Volker, Nef Tobias, Rymer William Zev (Editors), pp. 233-252, Springer London, 2012. ISBN: 978-1-4471-2277-7
PEER-REVIEWED CONFERENCE PROCEEDINGS
Roy, A., Krebs, H.I., Patterson, S.L., Judkins, T.N., Khanna, I., Forrester, L.W., Macko, R.M, and Hogan, N. "Measurement of Human Ankle Stiffness using the Anklebot," Proceedings of the IEEE International Conference on Rehabilitation Robotics, Noordwijk, The Netherlands, pp. 356-363, 2007.
Iqbal, K. and Roy, A. "Kinematic trajectory generation in a neuromusculoskeletal model with somatosensory and vestibular feedback," Proceedings of 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Reims, France, vol. 6, 2006.
Roy, A. and Iqbal, K. "Optimization of Goal-Oriented Voluntary Movements," Proceedings of the 27th International Conference on IEEE Engineering in Medicine and Biology, Shanghai, China, pp. 4998 - 5001, 2005.
Roy, A. and Iqbal, K. "Synthesis of Stabilizing PID Controllers for Biomechanical Models," Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, pp. 1 - 6, 2005.
Roy, A. and Iqbal, K. "Analytical Framework for Jerk Minimization in a Single-Link Biomechanical Model with Feedback Delays," Proceedings of the IASTED International Conference on Biomechanics, Honolulu, Hawaii, vol. 463: 017, 2004.
Iqbal, K. and Roy, A. "Robust stabilization in a single-link biomechanical model: a time-domain analysis," Proceedings of the IEEE Conference on Systems, Man, and Cybernetics, The Hague, The Netherlands, vol. 1, pp. 847 - 852, 2004.
Roy, A. and Iqbal, K. "Analytical framework for constraining the initial control effort in a biomechanical model," Proceedings of the IEEE Conference on Control Applications, Taipei, Taiwan, vol. 1, pp. 562 - 567, 2004.
Roy, A. and Iqbal, K., and Atherton, D.P. "Optimum tuning of PI-PD controllers for unstable sampled-data control systems," Proceedings of the Asian Control Conference, Melbourne, Australia, vol. 1, pp. 478 - 485, 2004.
Roy, A. and Iqbal, K. "Optimization of an Inverted Pendulum based Biomechanical Model with Multiple Feedback Delays," Proceedings of the International IASTED Conference on Control Applications, Marina Del Rey, California, 2004.
Roy, A., Iqbal, K., and Atherton, D.P. "New Criteria for Model Reduction of Sampled-Data Control Systems," Proceedings of the IEEE International Symposium on Intelligent Control, Houston, Texas, pp. 146 - 151, 2003.
Roy, A., Iqbal, K., and Atherton, D.P. "On using Prioritized Optimization in Sampled-Data Control Systems: a new variable weight," Proceedings of the IEEE Conference on Control Applications, Istanbul, Turkey, vol. 1, pp. 764 - 769, 2003.
Roy, A. and Iqbal, K. "PID Controller Design for First-Order-Plus-Dead-Time Model via Hermite-Biehler theorem," Proceedings of the American Control Conference, Denver, Colorado, vol. 6, pp. 5286 - 5291, 2003.
Roy, A. and Iqbal, K. "PID controller stabilization of a single-link biomechanical model with multiple delayed feedbacks," Proceedings of the IEEE Conference on Systems, Man, and Cybernetics, Washington, D.C., vol. 1, pp. 642 - 647, 2003.
Iqbal, K., Roy, A., and Imran, M. "Passive and active contributors to postural stabilization," Proceedings of the IEEE Conference on Systems, Man, and Cybernetics. Washington, D.C., vol. 5, pp. 4502 - 4507, 2003.
Roy, A. and Iqbal, K. "Contributors to Postural Stabilization: A Modeling-Simulation Study," Proceedings of the IEEE-NIST Conference on Performance Metrics, Gaithersburg, Maryland, pp. 1 - 6, 2003.
Iqbal, K. and Roy, A. "PID Controller Design for the Human-Arm Robot Manipulator Coordination Problem," Proceedings of the IEEE International Symposium on Intelligent Control, Vancouver, British Columbia, pp. 121 - 124, 2002.
Roy, A. and Iqbal, K. "PID Stabilization of a Position-Controlled Manipulator with Wrist Sensor," Proceedings of the IEEE Conference on Control Applications, Glasgow, Scotland, vol. 1, pp. 209 - 214, 2002.
NON-PEER REVIEWED ARTICLES
Khanna, I., Patterson, S.L., Roy, A., Judkins, T.N., and Forrester, L.W. "Assessment of Hemiparetic Ankle Movements using an Impedance Controlled Ankle Robot," Northeast American Society for Biomechanics Conference, College Park, Maryland, 2007.
Roy, A. and Iqbal, K. "Robust Stabilization of Multi-Body Biomechanical Systems: A Control Theoretic Approach," Proceedings of the 'Progress in Motor Control V', State Park, Pennsylvania, 2005.
Roy, A. and Ting, L.H. "Redundancy in muscle synergies may represent neural strategy for muscle recruitment in a cat hindlimb model," Proceedings of the Society for Neuroscience Meeting, Washington, D.C., 2005.