107年4月19日(星期四)專題演講
演講時間：107年 4月19日(星期四)下午14:30~16:00
地點：機電大樓演講廳(工EN 2028)
姓名：鄭宏銘 助理教授
服務單位：清華大學動力機械工程學系
主要學歷：美國普度大學美國機械工程博士
Biography
Dr. Cheng is an Assistant Professor in the Department of Power Mechanical Engineering at the National Tsing Hua University. He received the B.S. and M.S. degrees in mechanical engineering from National Sun Yat-Sen University in 1994 and 1996, respectively, and the Ph.D. degree in mechanical engineering from Purdue University in 2005. From 1996 to 1997, he was an R&D Engineer in the Energy and Resource Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan. From 1997 to 1999, he was an R&D Engineer in the National Synchrotron Radiation Research Center. His current research interests include modeling and control of assistive robotic devices, control of 3D printing technology, energy harvesting devices, artificial skin for mechatronic systems, and cyber-physical systems.
演講題目：Developments and Applications of Wearable Robotic Systems
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 biomechanic 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.
地點：機電大樓演講廳(工EN 2028)
姓名：鄭宏銘 助理教授
服務單位：清華大學動力機械工程學系
主要學歷：美國普度大學美國機械工程博士
Biography
Dr. Cheng is an Assistant Professor in the Department of Power Mechanical Engineering at the National Tsing Hua University. He received the B.S. and M.S. degrees in mechanical engineering from National Sun Yat-Sen University in 1994 and 1996, respectively, and the Ph.D. degree in mechanical engineering from Purdue University in 2005. From 1996 to 1997, he was an R&D Engineer in the Energy and Resource Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan. From 1997 to 1999, he was an R&D Engineer in the National Synchrotron Radiation Research Center. His current research interests include modeling and control of assistive robotic devices, control of 3D printing technology, energy harvesting devices, artificial skin for mechatronic systems, and cyber-physical systems.
演講題目：Developments and Applications of Wearable Robotic Systems
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 biomechanic 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.
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