TriSaFe-Trans is a safety-aware multimodal intent recognition pipeline for assistive robotics, developed in the Mecharithm Lab at Saint Louis University.
The paper fuses EEG (brain), EMG (muscle), and eye-tracking signals through a lightweight tri-modal transformer with reliability-gated attention, then applies a safety policy layer that decides whether the robot should act. The pipeline is demonstrated on a Kinova Gen3 arm performing five everyday tasks: reaching for a clock, picking up a dropped bottle, toggling a fan, adjusting a plant, and waving.
Accepted for oral presentation at BioRob 2026, Edmonton.
📄 Code: https://github.com/madibabaiasl/SafeIntentDetectionPaper
📚 Wiki: https://github.com/madibabaiasl/SafeIntentDetectionPaper/wiki
Authors: Tipu Sultan, Kody Cool, Guangping Liu, Gajapriya Tamilselvan, and Madi Babaiasl
Supported by SLU’s Research Institute, the Clare Boothe Luce Foundation, and SLU’s AEME Department.
Mecharithm - Robotics and Mechatronics
Robotics & Mechatronics from A to Z!
05/09/2026
What better way to wrap up the semester and finals week than with a lab cookout? Lots of food and games!
05/08/2026
The Mecharithm lab represented their work at the NSF M3X PI meeting, presenting ongoing research and engaging with other researchers across the program.
People in the photo:
- Guangping Liu, PhD student
- Dr. Madi, CBL assistant professor of robotics, SLU
- Dr. Nadia Figueroa, Assistant Professor , UPenn
- Dr. Maria Kyrarini, Assistant Professor, SCU
05/08/2026
Dr. Madi has been honored with the 2026 SSE Excellence in Teaching Innovation Award by Saint Louis University’s School of Science & Engineering (SSE) through a peer-nomination process.
04/26/2026
Mecharithm Lab well represented at !
Tipu delivered an excellent poster pitch, while Guangping and Nick presented their accepted paper. It was a great opportunity to share our work, connect with the medical robotics research community, and celebrate the team’s hard work.
Thank you to the Henry Luce Foundation Inc, NSF, and Saint Louis University Research Institute for supporting this research.
Thank you also to our collaborators in this project, Dr. Flavio Esposito and his students.
04/15/2026
Dr. Madi received SLU SGA’s Faculty Excellence Award, nominated by her grad students, Tipu & Guangping.
02/28/2026
Mecharithm Lab
02/28/2026
Mecharithm Lab is still working on Friday night, getting ready for the IROS 2026 paper submission. Are you submitting to IROS this year?
People in the first photo from left to right:
- Tipu, PhD student
- Param, PhD student
- Nick, Undergraduate researcher
- Guangping, PhD student
01/26/2026
This week, Dr. Madi has been at the KEEN Conference, where her team won Best Pitch in the Entrepreneurial Mindset in Robotics & Mechatronics Courses Workshop, organized by Dr. Maria Kyrarini and her team.
12/23/2025
Tipu Sultan, PhD Student at Dr. Madi’s Mecharithm lab at Saint Louis University with his EEG headset and eye tracking glasses.
Photographer: Sarah Conroy
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