https://www.evamungai.com/aboutme daily 1.0 2026-03-11 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629117457041-DUJII9EECHCQQWL5ZO8S/Eva.png https://www.evamungai.com/contact daily 0.75 2026-03-11 https://www.evamungai.com/resources daily 0.75 2022-06-13 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629215482179-H6R3VQ7JDFGP5STAJBOZ/caron.png Resources https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1655079958892-FF00ER3ZI285T01HE1DM/online_courses_umich.png Resources https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629222225692-GM2FF98NA6I4X90TED66/datascience.png Resources https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629222515149-WRS78NKXYEBK1E70KLI0/machine_learning_mastery.jpg Resources https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629222734972-1AAFNHJU4NXKQQEGZVM6/deeplizard.png Resources https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629223227838-F6Q2AVG0KRXJ8RKFJH9O/lamar.png Resources https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629223442670-OIOWZAC8GXNFOPWO3OSQ/threebrown.png Resources https://www.evamungai.com/research daily 0.75 2023-10-01 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629217374100-P2RLN4W2UDNEHA8J87QK/graphicalAbstract.png Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629217609746-8VQLJO05UDD4DCZXY3GK/reach.png Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654283428365-5AIVPHAQG354NQRE3EAC/traj_stills.JPG Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629218210940-GZYE88YOHW2TNOGHOMSV/water_tunnel.png Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654283847581-0ASBGPQ2SLHH30CY73U4/threelink_robot.jpg Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654486755158-ONZQE3TZ0WWMAWVBBE03/epoch5000.png Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654486774385-N7MAY4SGM5CML7FYIKQK/TopView.JPG Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654487036836-9A6URG8I6VLK5R2DAABA/fetch_navigating_sworld_rrtstar.jpg Research https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/d1629546-c944-4821-9a0e-ca9de188d640/fall_pred_2.png Research https://www.evamungai.com/media daily 0.75 2023-10-02 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/3002c950-f850-4331-8175-6b80b341d981/impacting_robotics_article.png Media An article written following an award I received for my multiple volunteer efforts in the Robotics Institute. https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629219176378-SNO2M70WAJ9VDBXFEVUH/dan_paper.png Media An article that was written about my research on the sit to stand motion of exoskeletons https://www.evamungai.com/home daily 0.75 2023-10-01 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629118959172-7FXZGRF3OCYHOK9TGW1K/equator.jpg My Journey - The Start Born in Nairobi, Kenya Moved to California when I was 10 years old Attended Henry M. Gunn High school https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629212866543-N08ME08CWGJ5ZREMAHV4/12041-03+RPI+Engineering+Lockup_Small_RGB_TWO+COLOR.png My Journey - Undergraduate Attended Rensselaer Polytechnic Institute in Troy, NY Started off as undeclared, then went to Biomedical Engineering, and finally landed on Mechanical Engineering Participated in Undergraduate Research Program (URP) Worked for Dr. Amitay in the Center for Flow Physics and Control (CeFPac) Leadership Positions Chair for the Mechanical Aeronautical and Nuclear Engineering (MANE) Student Advisory Council (SAC) Founder and editor of the MANE SAC Undergraduate Research and Design Journal Vice chair for faculty hiring for MANE SAC Vice president of Pi Tau Sigma (Mechanical Engineering Honor society Accomplishments Had two internships at Boeing 2017 NSF fellowship recipient Pi Tau Sigma member Boeing scholarship recipient Low family scholarship recipient https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629213050521-LF3AERV71D86HCKKCI3I/u-m_logo-hex.png My Journey - Graduate School Started Fall 2017 Pursuing PhD in Mechanical Engineering with a focus on controls and robotics Working under Professor Grizzle in the Bipedal Robotics Lab@Michigan Current research is on bipedal locomotion with a focus on exoskeletons https://www.evamungai.com/publications daily 0.75 2026-03-11 https://www.evamungai.com/resume daily 0.75 2021-09-28 https://www.evamungai.com/sit-to-stand daily 0.75 2022-06-10 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/2d7eaf9d-7968-4f47-9ed8-8daba68e1a05/exo_kinematic.gif sit to stand - Modeling the Exo-System “Our Contributions: Modeling the sit-to-stand motion using the full 3D exo-system. Literature: Only the sagittal plane portion of the sit-to-stand motion is captured, which leaves out the torque requirements on actuators in the frontal and transverse planes.” [1] Image description: “kinematic architecture of Atalante”[1] https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/dc83f791-eb58-4f5d-977d-7f21ccc7b893/sittostanddomains.png sit to stand - 2. Generating the Motion. “Our Contributions: An analysis of two types of dynamic sit-to-stand motions, chair-to-stand and chair-to-crouch-to-stand, based on hybrid system models and constrained optimization. The two motions are similar when the exo-system is sitting in the chair but differ when the exo-system is off the chair. The chair-to-stand motion simultaneously extends the joints and shifts the CoM forward, while the CoM is first shifted forward and then the joints extended in chair-to-crouchto-stand. The chair-to-stand motion is symmetrical and consists of motion mainly in the sagittal plane. Literature: The motions are generated for a simplified model of the exo-system. While both quasi-static and dynamic motions are studied, the dynam Note that static motions require intermediate poses to be stable throughout the standing motion while dynamic motions are continuous and not don’t have intermediate stable poses. “[1] Image description: The hybrid system models of the two dynamic sit-to-stand motions. For more details please see the paper. [1] https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/8fc57766-d485-4836-841f-d5ae64b626f1/fig22_varyingchairheight.gif sit to stand - 3. Executing the Motion “Control Objectives: Our Contributions: We provide a novel and systematic way of choosing the control objectives for highly constrained systems in such a way that the objectives are not in conflict with the contact constraints. Since the resulting closed-loop system is underdetermined (aka, over actuated) and must satisfy real-time constraints on joint limits, torque bounds, and ground reaction forces, we combine quadratic programming with input-output linearization (QP I/O) to (robustly) achieve the sit-to-stand motion and to safely come to a stop. Literature: To the best of our knowledge, there currently isn’t a way of systematically choosing control objectives for highly constrained systems. When we use the control objectives in [10], [14], [16]–[19], [22], [28], [49] and a QP-enhanced input-output linearizing controller from [10], [19], we find that a 0.02 m increase in chair height results in foot contact violations of over 100 N. Robustness Tests Our Contributions: Physically motivated perturbation tests that help us analyze and compare the two sit-to-stand motions. In our tests, we subject our controller to the following perturbations: different users in the exoskeleton, different chair heights, zero user force, spasticity in the knee joints, and asymmetric motor torque outputs. From these tests we are able to assess ranges of variations in which the exoskeleton can operate. These ranges can be used to inform new hardware design or to further robustify the controller. The main results from the tests are: – It is possible to achieve unassisted sit-to-stand motions that meet user comfort constraints. However, we forgo this approach because the inclusion of user force gives the user confidence. – The chair-to-stand motion is better at handling changes in the chair height. – The chair-to-crouch-to-stand motion is better at rejecting perturbations that result in asymmetry such as spasticity in the knee joints, and asymmetric torque outputs – Both motions are equally capable of handling different users in the exoskeleton. Literature: The robustness tests do not cover the user or their affordances. “ [1] Image Description: Robustness test results from varying the chair height. For more details please see the paper. [1] https://www.evamungai.com/mpc-stair-climbing daily 0.75 2022-06-10 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/d4873005-db38-4026-91d9-bca4c287510f/FiveLink.JPG mpc stair climbing https://www.evamungai.com/reachability daily 0.75 2022-06-10 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654477263220-0YGEDQLKHG3Q1ENZT6A6/exo_kinematic.gif Reachability https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654477314399-WNOZSIVJC2G17XB22XII/turninplace_hybridsystemsmodel.png Reachability https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654477364770-DFFT4D0XW125RYJMULIW/turninplace_-5degs.png Reachability https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654478042609-SOKPHK5R6N7LWDF6XKS8/pendulum_hitting_a_wall.png Reachability https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654478967166-A3FXY9EB2PEQ7Q9K9R2L/nonlinear_pendulum_reachibility.png Reachability https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654482908447-GAKWA4FTZOGHM7M8O429/threeLinkRobot.png Reachability https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654483628789-53JB4XS9MWXQW6DDH8Z6/3linkrobot_linear_reachability_result.png Reachability https://www.evamungai.com/autorob daily 0.75 2022-06-10 https://www.evamungai.com/research-1 daily 0.75 2022-06-06 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629217374100-P2RLN4W2UDNEHA8J87QK/graphicalAbstract.png Research (Copy) https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654283847581-0ASBGPQ2SLHH30CY73U4/threelink_robot.jpg Research (Copy) https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629217609746-8VQLJO05UDD4DCZXY3GK/reach.png Research (Copy) https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654283428365-5AIVPHAQG354NQRE3EAC/traj_stills.JPG Research (Copy) https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654486774385-N7MAY4SGM5CML7FYIKQK/TopView.JPG Research (Copy) https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654486755158-ONZQE3TZ0WWMAWVBBE03/epoch5000.png Research (Copy) https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654487036836-9A6URG8I6VLK5R2DAABA/fetch_navigating_sworld_rrtstar.jpg Research (Copy) https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1629218210940-GZYE88YOHW2TNOGHOMSV/water_tunnel.png Research (Copy) https://www.evamungai.com/check-back-soon daily 0.75 2022-06-09 https://www.evamungai.com/capturability daily 0.75 2022-06-10 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/2d97047d-68a6-4def-81d1-78f52c8d43dd/3dView.JPG Capturability - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654486774385-N7MAY4SGM5CML7FYIKQK/TopView.JPG Capturability - Make it stand out From the final report: “Outer Approximations for the LIPM. The top plot displays the three-dimensional barrier function solution for the 0-step (black) and 1-step (orange) viable-capture regions. The bottom plot is a top-down view of these functions.” https://www.evamungai.com/keypoints daily 0.75 2022-06-10 https://www.evamungai.com/3linkrobot daily 0.75 2022-06-10 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/1654482908447-GAKWA4FTZOGHM7M8O429/threeLinkRobot.png 3linkrobot - Make it stand out Three link planar robot[1] https://www.evamungai.com/fall-prediction daily 0.75 2024-04-26 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/9fa3cb07-77a1-4197-b1c7-dce4477bd35f/visual_abstract.png fall prediction https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/dcbb59f1-fba8-479d-88ed-e0a4d0d1a6b1/fall_pred_1.png fall prediction https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/f357871a-f909-4e40-ad1c-c0851aff8e8d/opt_lead_time_graphs.png fall prediction https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/a9cd689f-faae-4fb5-9fc4-eb97bd179447/faults_time_dependency_2.png https://www.evamungai.com/optimizing-lead-time daily 0.75 2023-10-06 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/7db2b779-9856-4d90-a380-25fb3fc7eca8/planar_four_link_final.png https://www.evamungai.com/fall-prediction-planar-four-link daily 0.75 2023-10-06 https://images.squarespace-cdn.com/content/v1/611a553f61f55233affe305b/9fa3cb07-77a1-4197-b1c7-dce4477bd35f/visual_abstract.png https://www.evamungai.com/fall-prediction-for-bipedal-robots daily 0.75 2026-03-11 https://www.evamungai.com/dataset_digit daily 0.75 2023-10-02 https://www.evamungai.com/phd_defense-1 daily 0.75 2024-01-20 https://www.evamungai.com/fall_prediction_videos daily 0.75 2024-05-09 https://www.evamungai.com/sim_to_real_fall_prediction daily 0.75 2026-03-11 https://www.evamungai.com/sim_to_real_fall_prediction-1 daily 0.75 2026-03-11