Instructor Information

Jeff Lesho

Work Phone: 240-300-3765

Dr. Lesho is a Principal Professional Staff Engineer in the National Security Analysis Department at the Johns Hopkins University Applied Physics Laboratory with 29 years of technical experience, 10 years in line management and 6 years of program management experience, including writing proposals, technical guidance and producing contract deliverables. Jeff is currently the Group Supervisor of the Systems and Software Engineering Group which focuses on national security issues including communications, networking, health care and intelligence technology. Manager of 35 engineers working on enterprise architectures, software integration, special mission networks, assured communications and systems optimization. Previously, he was the chief engineer leading the Development Cell for the Global Combating WMD Awareness System. Dr. Lesho has expertise in electrical and biomedical engineering, intelligence analysis, counter WMD and counter IED engineering, data analysis, software design, materials science and engineering, organizational development and leadership. In the biomedical area, his work involved ingestible and implantable biomedical telemetry devices, prosthetics, human robot interaction and catheter launched diagnostic devices, with 14 US Patents. In the intelligence area, he invented a method that maps insurgent activities which is included in the CENTCOM campaign plan. He led the effort to deploy defense in depth Chem-Bio sensors to border crossings and has a practical understanding of chemical and biological based sensors. He has grown a 20 person organization to a 55 person organization and then reorganized it into two groups and then into a new department. He has experience as the lead engineer in the design and deployment of space qualified hardware with over 10 years of on-orbit operations and has taken instruments from the conceptual stage through flight qualification testing, launch, on-orbit operations, data analysis and publication of results in peer review journals. He teaches 3 graduate level classes for the Johns Hopkins University, in Human Robotics Interactions, Sensor Systems Engineering and Sensors and Systems for Homeland Security.

Robert Armiger

Work Phone: 443-778-2942

Robert Armiger is a member of the Principal Professional Staff at the Johns Hopkins University Applied Physics Laboratory.  He leads the Health and Biological Sciences Branch, which performs leading research and development in the areas of Biological Sciences, Human Performance and Biomechanics, Health Data Analytics, and Next Generation Care Delivery. His projects include developing neuroprosthetic technologies for restoring function to wounded warfighters, as well as modeling and simulation of human and surrogate systems to understand injury mechanisms due to blast, blunt, and ballistic threats. In 2015, he was named the Maryland Academy of Sciences Outstanding Young Engineer.

Course Information

Course Description

This course provides an investigation of human-robot interaction and prosthetic control, with a focus on advanced man-machine interfaces including neural signal processing, electromyography, and motion tracking interfaces for controlling and receiving feedback from robotic devices. The course will also cover human physiology and anatomy, signal processing, intent determination, communications between the human and the device, haptic feedback, and telepresence. It is designed to be a hands-on course with class time spent in the dedicated robotics lab designing interfaces and performing experiments in a Virtual Integration Environment (VIE) and with robotic devices. Additional time in the lab, outside of class time, may be required to complete the course project. Programming for the class will be in MATLAB and Simulink.


525.627 Digital Signal Processing, knowledge of linear algebra, and familiarity with MATLAB and Simulink.

Course Goal

To master the fundamental mathematical techniques used in modeling and control of robots based on human control signals and to demonstrate these techniques by the solution of problems and the completion of a team project.

Course Objectives

  • At the end of the course the students will be able to 
    • Write control algorithms for robots
    • Measure control signals from humans based on physiological variables such as EMG, ECG, joint angles etc.
    • Program a virtual integration environment to simulate robot actions.

When This Course is Typically Offered

Spring semester at the Dorsey center


  • Robotic Introduction and Anatomy
  • Systems Integration, EMG's and Physiology
  • Robot Actuation vs Human Actuation
  • EMG Processing algorithms
  • EMG Classification algorithms
  • VIE System Engineering
  • In-Class Midterm - Robot Control
  • Haptics
  • Final Project Presentation
  • Final Exam

Student Assessment Criteria

Homework 25%
Mid-term Exam 25%
Final Exam 25%
Team Project 10%
Class Participation (including discussion postings and team presentation) 5%
Lab Performance 10%

All homework is due within one week of its assignment. Late homework will not be accepted without the prior permission of the instructor.

All external sources of information used to support must be appropriately referenced.

Computer and Technical Requirements


You will need the student version of Matlab from the bookstore. 

A Windows or Mac based computer for running MATLAB programs.

Participation Expectations

This course will consist of four basic student requirements:

  1. Homework - Each student is required to complete all homework assignments to earn a course grade. Homework assignments will be evaluated and graded on a scale of 0 to 100.  Homework assignments will generally involve answering a scenario problem based upon a specific robotic concept or questions from the textbook. Homework assignments will be uploaded into the course site and will be accepted in ASCII or Microsoft Word 97(R) (or later) format. 

  2. Examinations - A mid-term and a final will be given. Each will be graded on a scale of 0 to 100. Exact dates will be announced later during the semester.

  3. Group Projects - A group project will require students to apply the skills developed in the earlier sessions of the course to the development of a control system for a robot. Teams will be made up of 3-4 students. Each team will be required to deliver a final project report and a presentation. All team members are expected to contribute to the team project. A discussion forum will be established for each team on the first week of class. The final team project presentations will be performed synchronously with the course instructors via the Adobe Connect tool. Team presentation dates/times will be scheduled during the first few weeks of class.
  4. Lab Practice - Most classes will be divided up into a classroom session for the first half and a lab session for the second half.  Participation and practice at the lab session is mandatory and more than 2 absences will degrade the ability to complete the final project.  


Textbook information for this course is available online through the MBS Direct Virtual Bookstore.

Course Notes

There are no notes for this course.

Final Words from the Instructor

This is a multi-discipline class that will utilize knowledge in electrical engineering,  software, mechanics and physiology.   It is collaborative and laboratory based.  

(Last Modified: 01/25/2015 10:40:28 AM)