Scott Nokleby

About

Scott Nokleby is a robotics and mechanical engineering researcher whose work spans robot kinematics, rehabilitation robotics, and autonomous systems. His contributions to parallel and redundant manipulator design are among his earliest and most recognized, with foundational studies on Schönflies motion generators and velocity degeneracies in kinematically-redundant systems establishing him as a notable voice in robot kinematics during the 2000s. More recently, Nokleby has made significant strides in rehabilitation robotics, developing series elastic actuator (SEA) technologies designed to improve safety and precision in human-robot interaction for patients recovering from musculoskeletal injuries — work that has collectively garnered over 30 citations. His multi-objective gain optimization framework for SEA controllers further demonstrates his commitment to advancing force-controlled robotic systems. Beyond rehabilitation, Nokleby has explored probabilistic radiation mapping using mobile robots, omni-directional platform control, and multi-robot exploration strategies, reflecting a broad and applied research vision. His nine-degree-of-freedom upper-limb modeling work underscores his dedication to patient-centered design. Across these diverse domains, Nokleby has built a reputation for rigorous, practical robotics research with real-world humanitarian and industrial applications.

Research Focus

Key Achievements

Top Papers

1. 1
   Differentially-Clutched Series Elastic Actuator for Robot-Aided Musculoskeletal Rehabilitation

   22 citations · 2019
2. 2
   The Kinetostatic Conditioning of Two-Limb Schönflies Motion Generators

   21 citations · 2008
3. 3
   Identifying multi-DOF-loss velocity degeneracies in kinematically-redundant manipulators

   13 citations · 2003
4. 4
   Probabilistic-Based Robotic Radiation Mapping Using Sparse Data

   11 citations · 2017
5. 5
   Multi-objective gain optimizer for a multi-input active disturbance rejection controller: Application to series elastic actuators

   11 citations · 2021
6. 6
   On the Computation of the Home Posture of the McGill Schönflies-Motion Generator

   7 citations · 2009
7. 7
   Optimum design of a spherical quasi-homokinetic linkage for motion transmission between orthogonal axes

   6 citations · 2012
8. 8
   A K-Means Clustering Approach to Segmentation of Maps for Task Allocation in Multi-robot Systems Exploration of Unknown Environments

   5 citations · 2022
9. 9
   Control of a novel omni-directional platform

   5 citations · 2008
10. 10
    Nine Degree-of-Freedom Kinematic Modeling of the Upper-Limb Complex for Constrained Workspace Evaluation

    5 citations · 2020

Key Collaborators

Contact & Links