题目：Design of a Multi-Axis Robotic Manipulator for Upper Limb Rehabilitation

时间：2018年7月17日10:00-11:30

地点：机械与动力工程学院 F207会议室

邀请人：张定国副教授（机器人研究所）

Biography

Dr. Theeraphong Wongratanaphisan received the Ph.D. Degree in Mechanical Engineering from
Lehigh University, PA, USA in 2001. He is currently an Associate Professor at Department of Mechanical Engineering, Chiang Mai University. He established the Motion and Control Laboratory in 2002. His research interests are in the area of dynamic system and control, design of mechatronic system and robotics. He now focuses his interest on applications of robotic and control technology toward creation of assistive devices and agricultural robotics.

Abstract

Many countries around the world is approaching, if not already in, the state of ageing society. It is important to prepare for well-being of aging citizen. As the number of aging people increases, rehabilitation becomes one of the main tasks that presents challenge to the medical staffs. Patients who are recovering from stroke, medical surgery or injury are usually required some scheme(s) of physiotherapy. Upper limb rehabilitation is one of the most common treatment. It is a time-consuming process that often requires one staff per one patients. To help lessen the burden to medical staffs, robotic-assisted technology has been introduced for this tasks.

This research focuses on the design of a light-weight 6-DOF parallel robots to assist upper-limb rehabilitation of patients. In this talk, the 3-leg RRRS structure of the robot will be introduced. The analysis of the kinematic and the workspace will be discussed. Singularity is one of the main issues that will be addressed. Finally, optimal design that concerns prevention of the singularity and increasing the dexterity of robot will be presented.