转化医学大楼E200会议室

报告人：Juan Fang,

邀请人：陈卫东

Abstract

Cable-driven robots deliver a bio-inspired solution to generating soft, compliant motion, making them well suited for for human–robot interaction and rehabilitation engineering. However, stable motion guidance is difficult to achieve. Cable inherent flexibility and intricate dynamic disturbances make the systems prone to oscillation. This presentation will present preliminary investigation into cable-driven actuators (CDAs) for stable motion generation and their applications in rehabilitation engineering.

Key research outcomes include:

1. Both conventional motor-reel rotary mechanisms and innovative lead-screw linear drive structures were explored. While both CDAs feature rigid and compact designs, mechanical friction within their structures compromises motion stability.
2. Various force and position control algorithms were investigated. For low-friction systems, direct force control combined with impedance control provided effective force regulation and flexible position guidance. In contrast, for high-friction systems, indirect force control combined with admittance control was preferred to ensure smooth and stable motion. 
3. Preliminary experimental results based on the configurations incorporating 2, 4, 6, and 8 CDAs demonstrated stable and adaptable movement guidance for upper-limb, lower-limb, and whole-body rehabilitation.

This work proves that CDAs with suitable structures and matching control algorithms serve as promising mechanisms for human-centred engineering.

Bio：

Juan Fang received the B.S. degree in Mechanical Design, Manufacturing and Automation from Harbin Institute of Technology, China, in 2007, and the Ph.D. degree in Rehabilitation Robotics from the University of Glasgow, U.K., in 2012. From 2013 to 2015, she was a postdoctoral researcher at the Med-X Research Institute, Shanghai Jiao Tong University, China. She is currently a Professor in the Department of Mechatronics and Systems Engineering, School of Engineering and Computer Science, at the Bern University of Applied Sciences, Switzerland.

Her research focuses on the development and evaluation of robotic systems for rehabilitation, with current interests including soft robotic control, whole-body rehabilitation, and computer vision. She has led several competitive research projects funded by the China Scholarship Council, the Young Scientists Fund of the National Natural Science Foundation of China (NSFC), the Swiss National Science Foundation (SNSF), and Innosuisse, the Swiss Innovation Agency.