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About

Aliasgar Morbi’s research lies at the intersection of wearable robotics, haptic devices, and rehabilitation engineering, with a focus on developing safe, human-centered control systems. His most influential work introduces the **Assistance Regulation Controller (ARC)** for powered orthoses, a nonlinear admittance controller that balances task completion with user effort—a key contribution to assist-as-needed paradigms in rehabilitation robotics. This paper has garnered 23 citations, reflecting its impact on the field. Morbi also pioneered a minimal admittance controller for haptic devices that ensures stable human-robot interaction by dynamically limiting commanded acceleration, supported by Lyapunov stability analysis (18 citations). His design of **GaitEnable**, an omnidirectional robotic gait trainer with a reactive control system, enables overground gait training with minimal constraint, advancing rehabilitation robotics (13 citations). Further work on control and implementation of robotic gait systems (6 citations) underscores his commitment to translating theory into practical therapy tools. Morbi’s contributions are notable for their rigorous stability guarantees and focus on encouraging patient participation, making his work foundational for engineers developing safe, effective wearable and haptic robots.