Edwin Hui Leong Ho

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In this paper, a novel 7-DOF haptic device wearable on a human arm is proposed. Different from the conventional haptic devices which employ only mechanical components, the proposed wearable haptic device is formed by both mechanical links/joints and human bones/joints. As a result, such a biomechanical design allows the device to always adapt to human arm's(More)
─ A joystick-based interactive motion control approach is proposed for modular reconfigurable manipulators. Based on the product-of-exponentials (POE) formula, the velocity models as well as the incremental displacement models have been formulated for both serial manipulators (with arbitrary configurations and DOFs) and a class of three-legged parallel(More)
To understand the biology of the interactome, the covisualization of protein interactions and other protein-related data is required. In this study, we have adapted a 3-D network visualization platform, GEOMI, to allow the coanalysis of protein-protein interaction networks with proteomic parameters such as protein localization, abundance, physicochemical(More)
This paper focuses on the development of an embedded integrated servo-controller (EISC) for servomotors. Consisting of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complicated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator (IMA) that(More)
Increasing level of complexity in exible automated manufacturing systems demands a novel approach with high degree of analytical rigor in the development of supervisory control. One such approach is the discrete event control theory by Ramadge and Wonham 9. The discrete event control theory, also know as the RW theory, is automaton based and ooers a(More)
This paper presents a precision motion stage developed for nanometer level positioning. To achieve the required motion resolution, a piezoelectric actuator and flexure-based displacement mechanism are used. Results of extensive experiments on hysteresis and creep phenomena of the piezoelectric actuator are reported. Position measurement for feedback control(More)
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