Controls Engineer

Dephy, Inc.
Boxborough, Massachusetts
May 21, 2024
May 31, 2024
Engineering, Systems
Position Type
Full Time
Organization Type
Dephy is looking for a candidate who was born to be an engineer: someone that has an urge to understand how things work, and who gets excited when there is no known solution to the problem at hand. We are curious, creative, and passionate engineers looking for a team member to help us tackle challenges at the forefront of wearable robotics. Come help us transition mobility exoskeletons from labs and treadmills to the real world: cities, trails, and mountains.

About the Company

Dephy is a robotics design firm founded in 2016 with the primary mission of bringing humans Beyond Nature with performance enhancing wearable robotics technologies. We utilize a practical, hands-on approach to problem-solving. We are active in the military, medical, and consumer markets.

Job Description

Your task is easy to understand but challenging to do well: predict when the user's foot will next touch the ground and determine how much assistive torque should be applied. There are a few constraints: it has to be done real-time on a small microcontroller, the inputs are noisy, the sensors are limited and imperfect, the terrain, gait and/or gait speed might be changing, the user adapts to your previous actions, and a machine learning algorithm with a 1% false positive rate will result in the user tripping every 100m.

As a controls engineer at Dephy you will have a direct effect on deciding the appropriate behavior of our devices while worn by a user. You will do extensive R&D to take data from our sensors, understand what a user is doing, and decide how the motors should respond. This process involves numerous iterations of analyzing data, prototyping simulated solutions, moving simulations to hardware, building custom tools, testing on people, and debugging.



Be a good human - get along with the team, build strong working relationships, and execute on Dephy's Values.

Experience developing, debugging, and optimizing real-time software. You will be directly responsible for implementing new control solutions to advance our devices.

Experience with pattern recognition, heuristics, sensor fusion, data analysis, and/or machine learning

Experience with high-level decision-making and motion control for robotic applications (autonomous vehicles, drones, industrial robots, robotic manipulators, etc.)

Desire to understand and solve hard problems with creative solutions

Ability to understand client's needs to create the ultimate user experience

Ability to break high level problems into more detailed actionable steps

Ability to work in a multidisciplinary team

Self-sufficiency and a strong attention to detail and quality

Excellent written and verbal communications skills

Bachelor's degree in engineering or science at minimum

Expertise in at least 1 of the following:

Implementation & Architecture: Adjusting and implementing quality final solutions that are computationally efficient, modular, and maintainable.

Mechanics: Biomechanics, Kinematics and Dynamics

Machine learning: Decision-making, optimization and system modeling

Electromechanical Control: Sensors, filtering and motor Control

Strong knowledge of C and Matlab, intermediate knowledge of Python and C++

Experience converting basic prototypes to quality implementations focused on maintainability and modularity

Experience with Git workflow and version control

Understanding of biomechanics and human locomotion

Experience with human subject testing, data collection, real-time performance tracking

Experience with high-level "non-classical" control algorithms & techniques (MPC, LQR, Kalman filtering, etc.)

Experience with dynamics, joint kinematics, localization, and mapping

Experience with walking robots, exoskeletons, and/or active prostheses

Experience with embedded systems and microcontrollers

At least 2 year of professional experience, this is not an entry level role

Other Information

Start date: ASAP

At Dephy, our mission is to bring humans Beyond Nature . Our goal is to do this by attracting, hiring, and building a team of good humans. Humans who are diverse builders with unique collections of tools, cultures, and experiences. We celebrate our differences and foster an environment for our team to learn and ask questions. We trust and respect each other, and value the cultural contribution that we each bring to Dephy. We believe that when people feel respected and included they can be more creative, innovative, and successful. We encourage you to apply, even if you don't meet every qualification or skill.

Candidates need to be authorized to work in the U.S.

This position is not eligible for sponsorship of an immigration case in order to employ you (for example, H-1B or other employment-based immigration case).

Salary and equity will be determined based on qualifications

This listing is not for reproduction. No recruiters please, only interested candidates.

Apply at


Health Care Plan (Medical, Dental & Vision)

Retirement Plan (Simple IRA)

Life Insurance (Basic, Voluntary & AD&D)

Family Leave (Maternity, Paternity)

Short Term & Long Term Disability

Unlimited Paid Time Off (Vacation, Sick & Public Holidays)

Free Snacks & Drinks

Casual Office

Flexible work schedule

Dog Friendly Office

Onsite cafeteria and gym