Haptic-assistive tools for robot design
This research attempts to develop a haptic-assistive tool in the design for parallel robots. Conventional techniques in designing parallel robots and similar mechanisms involve solving complex kinematic equations combined with an iteration process in order to eliminate singularities and other boundary restrictions. Singularities mostly relate to topological and architectural geometry of the mechanism. The designer will be able to experience and identify motion profile problems without the need in kinematic calculations. Potential application areas cover a wide range, but two areas with current industrial support include the design of a novel exoskeleton for robotic human lower limb rehabilitation, and highly reconfigurable jigs for automated aircraft wing assembly.
Micro manipulation, Micro injection, and Micro implants
(Collaborations with Queen Elizabeth Hospital Birmingham, Birmingham and Midland Eye Centre)
Micro implant is one of the most suitable and new techniques for introducing micro medical devices into the biological vessels such as a vein and artery such as micro stent delivery into a vein or artery for occlusion treatments. Micro-stenting is a revolutionary surgical method of treatment of various disorders where no current clinical treatments exist. In our research group we aim to develop novel Stent Delivery Systems (SDS) for treatment a vascular and micro vascular occlusion. We are involved with the design of micro implants, appropriate material selection, and methods of in-vitro implant delivery systems.
Advanced Parallel Robot Design and Analysis
A parallel robot provides mechanism chain providing accuracy and stiffness but with limited work space. In our research group we study parallel robot systems with a 6-UPU-3UPR structure containing nine servo electric linear actuators. An embedded potentiometer provides feedback on the stroke of the actuator. We have developed new methodologies to determine inverse kinematic, stiffness and dynamic formulation for a hybrid parallel. We also develop control strategies for applications involving gripping and manipulation of large aerospace components.
(Collaborations with West Midlands Rehabilitation Centre (WMRC) and Applied Computing & Engineering Ltd.)
Neurological impairments caused by stroke affect motor function activity around the ankle and knee. In our research group we are developing a novel system of lower limb rehabilitation, operating in active/assistive modes based on both bilateral and unilateral methods. By using Vicon cameras, human leg segmental motion characteristics (signatures) are measured and recorded, in order to establish a database system of patient’s personalised range of motion of the impaired lower limb. We are designing an overall cognitive control strategy through an appropriate engineering concept.
Other research areas
The research in this theme is expected to evolve in the following directions: intelligent parallel robot path planning; innovative and new techniques in IVF/ICSI procedures; intelligent robotic in assistive and rehabilitation technologies; and haptic interfacing.
Dr. Mozafar Saadat