EducationPh.D. Shanghai Jiao Tong University, China
Sunan Huang, Ph.D.
Sunan Huang was previously a Research Fellow at SINAPSE. He was formerly an Executive Engineer in National University Health System (NUHS). He received his Ph.D degree from Shanghai Jiao Tong University, China. His research interests are in neural network control and learning, modeling and control of robotics. His current research is focused on rehabilitation, controlling an exoskeleton to support and protect a human's body.
Human-Robot Interaction Control of Rehabilitation RobotsRehabilitation robots have direct physical interaction with human. Interaction affects the controlled variables and may even cause system instability. Thus, human-robot interaction control design is critical in rehabilitation robotics research. The control is based on the robotics model with consideration of interaction dynamics. It consists mainly of human interaction compensation, friction compensation, and disturbance observer. The stability of the closed-loop system under the proposed controller is guaranteed. Such control scheme enables the robot to operate human-in-charge mode, shared control mode, and robot-in-charge mode and ensures the safety when human interacts with robot. The proposed design is verified with an ankle robot in walking experiments. The result can be extended to other rehabilitation and assistive robots driven with compliant actuators without any difficulty.
Micro-Manipulation Surgical Robot
Micro-manipulation systems for the surgery operation based on the micro-robots like piezo actuator robot have been developed where the micromanipulator for the holding pipette was manually operated. The system can allow a surgeon to perform a less-invasive procedure that was once only possible with more invasive open surgery. It is easier for the surgeon to use than the instruments in microscope surgery.
The system reduces the surgeon's movements (for example, moving 1/2 inch for every 1 inch the surgeon moves), which reduces some of the hand tremors and movements that might otherwise make the surgery less precise. Also, the instruments can access hard-to-reach areas of your body more easily through smaller surgical cuts compared to traditional surgery.