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About

Ivan Godler is a mechatronics and robotics researcher whose work spans robotic hand design, novel actuation mechanisms, sensor development, and motor control. He is perhaps best known for pioneering the "Twist Drive" — an innovative twisted strings transmission system that converts motor rotation into linear motion for actuating robotic fingers. This lightweight, low-cost mechanism, introduced around 2010, became a cornerstone of his research into dexterous multi-fingered robotic hands and soft robotics, collectively attracting over 125 citations across multiple studies. His work on position and force control of Twist Drive-actuated fingers and antagonistic actuator pairs demonstrates both the theoretical depth and practical applicability of his contributions to compliant, human-safe robotics. Beyond robotic hands, Godler made early contributions to sensing technology, developing a novel rotary acceleration sensor in 1995 (32 citations) capable of measuring angular acceleration independently of rotational speed — a tool with broad applications in vibration and motor control. His investigations into harmonic drive gears, including repetitive control strategies to suppress speed ripple and built-in torque sensing techniques, reflect a strong grounding in precision actuator engineering. His involvement in autonomous mobile soccer robots further illustrates the breadth of his mechatronic systems expertise, making him a versatile and impactful figure in applied robotics research.