Mark L. Nagurka
Papers
11
Total Citations
86
H-Index
6
About
Mark L. Nagurka is a robotics and control systems researcher whose work spans rehabilitation robotics, soft actuator modeling, trajectory optimization, and human-robot interaction. With a career stretching from foundational work in robotic manipulator trajectory planning in the late 1980s through cutting-edge developments in therapeutic and soft robotics, Nagurka has consistently bridged theoretical rigor with practical application. His most impactful contribution is the Haptic TheraDrive system — an affordable, force-feedback haptic robot designed to support post-stroke arm rehabilitation in both clinical and home settings — which has garnered 27 citations and represents a meaningful step toward accessible neurorehabilitation technology. Complementing this, his investigations into braided pneumatic and hydraulic artificial muscles have advanced dynamic modeling and model-based impedance control for soft actuators, earning over 20 additional citations across related studies. Earlier in his career, Nagurka developed Fourier-based and quasi-linearization approaches to optimal trajectory planning for robotic manipulators, establishing robust mathematical frameworks that remain methodologically relevant. His testbed for measuring human arm impedance parameters further reflects his interest in quantifying human-robot interaction dynamics. Across disciplines — from stroke recovery to soft robotics to optimal control — Nagurka's work exemplifies thoughtful, application-driven engineering research.
Research Focus
Key Achievements
Top Papers
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- 3Sliding Mode Impedance Control of a Hydraulic Artificial Muscle11 citations · 2018
- 4A Suboptimal Trajectory Planning Algorithm for Robotic Manipulators8 citations · 1988
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- 6A testbed for measurement of human arm impedance parameters6 citations · 2002
- 7PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators5 citations · 2016
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