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A development of soft modular robotic arm

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  • Full or part time
    Dr Hayashi
    Dr Nasuto
  • Application Deadline
    Applications accepted all year round
  • Self-Funded PhD Students Only
    Self-Funded PhD Students Only

Project Description

Project Overview:

There is a growing interest in using robotics to deliver effective assistance during the intensive and repetitive therapies. However, no such system has been demonstrated so far in practice, largely due to lack of the hardware solutions able to generate sufficient forces yet producing compliant interaction with a human ("soft-ware"), as well as nonexistence of appropriate control laws to drive such robotic devices. The project will develop a soft modular robotic arm in which the soft wedge-like cellular inflatable units can be assembled to form a worm like assistive arm. The wedge angle distribution along the arm will generate the optimal trajectory supporting the patient arm movement and the elastic modulus control in each cell contribute to the compliant motion. The project will also develop a novel distributed MIMO control law inspired by neuronal dynamics, integrating the ensemble of autonomous agents and the newly proposed control scheme, in which distributed control will automatically determine the number of degrees of freedom and their coordinated control needed to achieve the compliant assistive motion. The project will be carried out in the recently established institute, Brain Embodiment Lab (http://.bel.reading.ac.uk).

Supervisors:

Dr Yoshikatsu Hayashi ([email protected])
http://www.reading.ac.uk/sse/about/staff/y-hayashi.aspx

Prof. Slawomir J. Nasuto ([email protected])
http://www.reading.ac.uk/sse/about/staff/s-j-nasuto.aspx

School of Systems Engineering, University of Reading:

The University of Reading is one of the UK’s 20 most research-intensive universities and among the top 200 universities in the world. Achievements include the Queen’s Award for Export Achievement (1989) and the Queen’s Anniversary Prize for Higher Education (1998, 2006 and 2009). The modelling will take place in the School of Systems Engineering (SSE), which has a strong reputation for its innovative research in computer science, cybernetics, and electronic engineering. Recent major investments have further strengthened the neuroscience activities in SSE, with two new professors, three new lecturers and the creation of a Brain Embodiment Lab.

Applicant’s Profile:

Applicants should hold a minimum of a UK Honours Degree at 2:1 level or equivalent in a relevant subject such as systems and control engineering, cybernetics, physics, or mathematics.

How to apply:

Please submit an application for a PhD in Cybernetics to the University using the link below.

In the online application system, there is a section for “Research proposal” and a box that says “If you have already been in contact with a potential supervisor, please tell us who” – in this box, please enter “Dr Yoshikatsu Hayashi”.

Application Deadline:

Applications accepted all year round.

Funding Notes

We welcome applications from self-funded students worldwide for this project.

Students from Brazil: we welcome and support applications for the Science Without Borders Scholarship (Ciência sem Fronteiras) - http://www.reading.ac.uk/sciencewithoutbordersscholarships.

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