奈米工程與微系統研究所　書報討論

Seminar of Inst. NanoEngineering and MicroSystems

Marvin Cheng

Department of Power Mechanical Engineering

National Tsing Hua University

Assistant Professor

Developments of Wearable Robotic Systems for Rehabilitation Applications

Abstract:

In this research, we have started to design, develop, and study an interactive assistive robotic system that allows patient and professional therapist to interact remotely for training and rehabilitation activities with force feedback, which can also assist users in their daily activities. With the newly developed virtual technologies (VR), patients and therapists can also be virtually visible. The targeted users of this device are post-stroke patients. By integrating real human trajectories, the proposed assistive robotic system can make arm movement natural while being operated as an assistive device. The assistive functions of this device can also help them to return to their jobs easier.

The current development of an assistive robotic system includes both software and hardware parts. The hardware part includes design and fabrication of a 7-joint robot. Each joint is driven by a pair of twisted-string actuators. The hardware will be used by both patient’s and therapist’s sides. The software part presents an innovative approach that extracts arm trajectories based on various physical and environmental conditions. The preliminary results have demonstrated different similarity merits for different motions. The trajectories with corresponding controllers used to drive the robot are determined by a state-machine for different scenarios. Assistive devices can also reduce the financial burden of rehabilitation and special needs. A successful assistive robotic system can rebuild the structure of self-care market by reducing the financial burdens of numerous families and compensating for the shortage of medical resources. Upon successful completion of this research, it is expected to lead to new knowledge about assistive technology, in terms of both mechanical and biomechanics properties. Additionally, there is a high potential that the proposed flexible design may eventually evolve to a commercially viable entity in segments of consumer electronics, military, and healthcare equipment.

15:30-17:20 on Nov. 13(Mon), 2017 at Room 108 of Eng. Building I

Host：Prof. Chao-An Lin calin@pme.nthu.edu.tw Ext:42607

Contact：Praveen praveenbowler@gmail.com  Mobile: 0909537757