Nathaniel Goldfarb

Nathaniel Goldfarb

Adjunct Faculty

Mechanical Engineering and Mechanics

Nathaniel Goldfarb

Adjunct Faculty

Mechanical Engineering and Mechanics

Biography

Dr. Nathaniel Goldfarb is a robotics researcher for the Navy working at Navair in the RISE lab. He received his PhD in robotics engineering from Worcester Polytechnic Institute in 2022, where he studied lower limb exoskeleton utilizing motion capture. He worked as a teaching assistant for several years during which he helped run and design several robotics classes. He received the SMART scholarship in 2019 to support his PhD research. He joined the RISE lab at Naviar in Lakehurst, New Jersey where he used his innovative methods with motion capture. Nathaniel’s current research is on human robot interaction using learning from demonstration with a focus on teaching robots how to do complicated tasks with human assistance.      

Degrees / Education

  • PhD Robotics Engineering, Worcester Polytechnic Institute, 2022 

  • MS Robotics Engineering, Worcester Polytechnic Institute, 2018 

  • BE Mechanical Engineering, Stevens Institute of Technology, 2016  

Research Areas

Research Interests

Assistive Exoskeletons, Learning from Demonstration, Human Robot Interaction, Optimal Control

Academic Distinctions

  • NREIP: Naval Research Enterprise Internship Program, 2017,18’ 

  • SMART:Science, Mathematics, and Research for Transformation scholar , 2019 

  • Computer Aided Product and Process Design (CAPPD) Technical Committee Best Paper, ASME IDETC, 2020 

  • SMART SEED Grant, 2022

Select Publications

  • Goldfarb, Nathaniel, et al. "Open source Vicon Toolkit for motion capture and Gait Analysis." Computer Methods and Programs in Biomedicine 212 (2021): 106414. 

  • Meier, Tess B., et al. "Evaluating knee exoskeleton design based on movement with respect to underlying bone structure using MRI." IEEE Transactions on Medical Robotics and Bionics (2023). 

  • Goldfarb, Nathaniel, Charles Bales, and Gregory S. Fischer. "Toward generalization of bipedal gait cycle during stair climbing using learning from demonstration." IEEE Transactions on Medical Robotics and Bionics 3.2 (2021): 446-454. 

  • Goldfarb, Nathaniel, et al. "Control of a lower limb exoskeleton using Learning from Demonstration and an iterative Linear Quadratic Regulator Controller: A simulation study." 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). IEEE, 2021.