Marvin H. M. Cheng

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This paper investigates on motion synchronization of a multiple axes system. Two different control strategies, a cross-coupling controller in feedback loop and a linear quadratic optimal controller, were used to synthesize the synchronization compensator with the cross-coupling dynamics among the axes. These two methods are corresponding to SISO and MIMO(More)
In this study, a twisted string actuation mechanism was used to develop an assistive robotic system to assist post-stroke patients to regain mobility. The robotic manipulator used in therapy systems can apply forces to aid in specific tasks during goal-directed movements. The device was designed for the one-degree-of-freedom movement of patients' elbow(More)
In this research the twisting cable mechanism was employed to design and develop a light elbow assistive robot. A particular type of fishing line was experimentally tested for use as the strand material, and the behavior was compared to the proposed model. A correction parameter called effective diameter was derived to adapt the model to the experimental(More)
This paper proposes a cascade control strategy, combined of a modified sliding mode controller and a quantized current regulator, for a Brushless DC Motor (BLDCM) to achieve high-performance speed control. In the current control loop, the quantized control law is derived by minimizing the instantaneous square value of a performance index signal using the(More)