IMEK > Mitarbeitende > Alireza Abbasimoshaei, Dr.-Ing.

Alireza Abbasimoshaei

Technische Universität Hamburg
Institut für Mechatronik im Maschinenbau (M-4)
Gebäude Q (Eißendorfer Str. 38)
Raum 1.006

Tel.: +49 (0) 40 428-78-3083
Mobile: +49 (0) 179 8299554
E-Mail: al.abbasimoshaei@tuhh.de

ORCID iD 0000-0003-3288-7892

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Die Robotik verbessert sich sehr schnell und wird überall eingesetzt. Robotik ist ein Hybrid aus Mechanik, Elektrotechnik und Informatik. Was mir in diesem Bereich gefällt, ist, dass man, wenn man hart arbeitet, viele Dinge entwickeln kann und viele nützliche Geräte für Menschen bereitstellen kann. Um dieses Ziel zu erreichen, liegt mein Hauptaugenmerk auf medizinischen Robotern und Geräten. Aber wir arbeiten auch in anderen Bereichen. Außerdem arbeiten wir im Bereich der Haptik, weil sie uns dabei hilft, praktische Systeme wie z. B. Systeme für die Tele-Rehabilitation und Tele-Medizin bereitzustellen. Die Kombination von Haptik und Robotik ist also ein sehr faszinierendes Gebiet, das uns hilft, eine Menge profitabler Geräte herzustellen. Ich habe meine Arbeit mit dem Design von Mechanismen begonnen und dann meine Arbeiten durch den Bau und die Steuerung verschiedener Roboter weiterentwickelt. Diese Art der interdisziplinären Arbeit hilft mir, verschiedene Ideen zu haben und kreative Dinge zu machen.

CV

Unter diesem Link können Sie meinen vollständigen Kurz- und ausführlichen Lebenslauf herunterladen:	https://drive.google.com/drive/folders/1Zd1D3QtAVULm9nuKo_xskGHDIAmKAjNx?usp=sharing
seit 10/2019	Research Assistant, Hamburg University of Technology, Institute of Mechatronics in Mechanical Engineering
10/2014 - 06/2019	Ph. D. Student, Mechanical Engineering, Tarbiat Modares University, Tehran, Iran
08/2018 - 03/2019	Researcher at Braunschweig University, Braunschweig, Germany
10/2011 - 08/2014	M. Sc. Student, Mechanical Engineering, Tehran University, Tehran, Iran
08/2008 - 06/2018	R&D Researcher and Designer as project works
08/2010 - 11/2010	Internship at Sarma Sazan Co.
10/2006 - 09/2010	B.Sc. Student, Mechanical Engineering, Mazandaran University, Babol, Iran
10/2002 - 09/2006	Studying at Nodet: National Organization for Development of Exceptional Talents, High School, Amol, Iran

Forschung

Robotik
Haptik
Mechanische Konstruktion
Artificial Intelligence
Control

Bücher

Haptics: Science, Technology
Applications, and Engineering haptic devices
Dynamics
Machine Dynamics
Vibrations

Patents

Alireza Abbasimoshaei; Thorsten A. Kern; Rehabilitation apparatus for wrist and forearm therapy WO 2022/048906 A1

Alireza Abbasimoshaei; Farshid Najafi; A system creating variable remote center of motion in robotic wrist of sonography robot with international classification of A61B 8/00;A61B 34/30

Ausgewählte Publikationen

[152274]

Title: Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger.

Written by: moshaei, AlirezaAbbasi, and Moghaddam, Majid Mohammadi and Niestanak, Vahid Dehghan

in: <em>Industrial Robot: the international journal of robotics research and application</em>. (2019} publisher={Emerald Publishing Limited).

Volume: <strong>100</strong>. Number:

on pages: 200-207

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Type: Journal Paper

DOI: 10.22059

URL: https://www.emerald.com/insight/content/doi/10.1108/IR-05-2019-0110/full/html?casa_token=DTKzlYzwJUEAAAAA:eWWY-o1xT-CFwOEPOzggso1gUjgFaYuEdnQdwkkP_hnH4JnQkKiETAhQ8cEcGpAhKMV7K4ImWwYCDQOjGXNxt-ZFIrt47LF08b9tTSLv4K75Mxvy7yHv

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Abstract: Purpose\\ The purpose of this paper is to introduce a new design for a finger and wrist rehabilitation robot. Furthermore, a fuzzy sliding mode controller has been designed to control the system.\\ Design/methodology/approach\\ Following an introduction regarding the hand rehabilitation, this paper discusses the conceptual and detailed design of a novel wrist and finger rehabilitation robot. The robot provides the possibility of rehabilitating each phalanx individually which is very important in the finger rehabilitation process. Moreover, due to the model uncertainties, disturbances and chattering in the system, a fuzzy sliding mode controller design method is proposed for the robot.\\ Findings\\ With the novel design for moving the DOFs of the system, the rehabilitation for the wrist and all phalanges of fingers is done with only two actuators which are combined in one device. These features make the system a good choice for home rehabilitation. To control the robot, a fuzzy sliding mode controller has been designed for the system. The fuzzy controller does not affect the coefficient of the sliding mode controller and uses the overall error of the system to make a control signal. Thus, the dependence of the controller to the model decreases and the system is more robust. The stability of the system is proved by the Lyapunov theorem.\\ Originality/value\\ The paper provides a novel design of a hand rehabilitation robot and a controller which is used to compensate the effects of the uncertain parameters and chattering phenomenon.} number={12

Lehre

Grundlagen der Elektrotechnik
Applied Design Methodology in Mechatronics
Measurement Technology
Haptics
Machine Dynamics

Studentische Arbeiten

Hajiri, G: Optimization, redesigning, and construction of a wrist rehabilitation robot, 2020.
Stein, T: Design a one degree of freedom robot for paralyzed patients by using hydraulic actuator, 2020.
Petrovic, M.: Design and simulation of a PID controller for a new wrist rehabilitation robot, 2020.
Winkel, M.: Designing, simulation, and implementation of an eye tracking controlling system for a new one degree of freedom robot for paralyzed patients, 2020.
Rothe, T: Simulation and comparison of different control types of a hydraulic robot for paralyzed patients, 2020.
Siefke, Tim. : Design of a linear aktuator for rehabilitation of joint movement after paralysis, 2021.
Schild, L. : Design and implementation of a filter that improves stability within the remote rehabilitation system, 2022.
Trieb, Tim: Designing, Building and Testing a foot Prasthesis adaptable for different types of Movement, 2022.
Tenbrink, P: Developing a finger rehabilitation robot for whole fingers and its optimization, 2022.
Lamprecht, E: Development of a wrist rehabilitation game with haptic feedback, 2022.
Shah, Y: Remote Supervising System for a Rehabilitation Device using Cloud Services, 2020.
Selim, M: Designing and simulation of a tactile sensor for Surface Scratches Monitoring, 2020.
Oelkers, P: Force sensing strategy for wrist rehabilitation robotic system and use in teleoperation, 2020.
Knudsen, F: Feasibility of eye-tracking controlled assistance robots, with two or more degrees of freedom, for paralysed persons, 2020.
Kumar, A: Intelligent wrist and forearm therapy system with Impedance control and Bio-impedance measurement using Tomography, 2021.
Aly Ibrahim, A: Developing a VR training environment for fingers rehabilitation, 2021.
Kitajima Borges, J: Impedance Control and Connectivity Solution of a Wrist Telerehabilitation system, 2021.
Jebbawy, S: Mobile Application as a Replacement for the Therapist's Wrist Rehabilitation Robot, 2021.
Nanjangud, S: Detail Design and Build a tactile sensor for surface scratch monitoring, 2021.
Chandra Shekar, T: Developing an intelligent wrist and forearm therapy system with wireless communication and wearable PCB, 2022.
Fahad, M: Designing, Simulation and Building of a Whisker Sensor for Surface Scratch Monitoring using Artificial Intelligence, 2022.
Laatz, D: Developing a mechanised and reusable product to combine heat and vibration therapy, 2022.
Böck, M: Combination of Object-Mounted and Head-Mounted Eye Tracking Approaches for Assistance Robots, 2022.
Shayan, H: Design on Prosthesis using Photogrammetry, 2022.
Kröpelin, T: Design of a new exoskeleton device for wrist rehabilitation, 2022.
Schwartz, C: Designing and Building a Whisker based robot for surface scratch detection, 2022.
Smadi, A: Optimization of the melting process of a shaft furnace using K3 methods, 2021.
Aly Ibrahim, A: Evaluation of a telerehabilitation system of a wrist rehabilitation robot by using universal robots, 2022.
Rottke, V: Implementation of Haptic Feedback and a Remote Evaluation Model for a Wrist Telerehabilitation System, 2022.
Chinnakkonda Ravi, A: Visuomotors control of Legged Robots, 2022.
Jebbawy, S: Developing a Product for Advanced Service and Maintenance of Train Sanitary Controllers, 2022.
Tjaswini: Synopsis for the Project work “Developing an intelligent wrist and forearm therapy system with wireless communication and Wearable PCB”, 2022.
Kitajima Borges, J: Design, Control and Manufacturing of a Finger Telerehabilitation Exoskeleton with Smart Materials, 2022.
Vignesh, V: Modeling and Validating the Kinematic and Dynamic properties of Shape memory alloy wire actuated Continuum Robots, 2022.
Lambrechet: Stationary exoskeleton device with active actuation to supports patients during movement, 2022
Habib: Developing a novel ultrasounic haptic device with feedback, 2023.
Laatz: Future Affair: An Artistic Exploration of Socially Distanced Affective Touch via Forearm Stimulation, 2023.
Elika: Developing a haptic device for wrist fracture detection and giving feedback, 2023.
Subramanya: Continuous Learning of Grasp Planning using RGB-D input on Ensembled Neural Network model, 2023.
Hazem: Surface Recognition with an Artificial Finger using Vibrotactile Feedback, 2023.
Nibra: Identifying Surface Material using Non-Differential Physics Equation in Haptic Research, 2023.

Auszeichnungen

- Gewinn des Social Innovation Award im Hamburger Maker Challenge Wettbewerb
- Gewinn des Top-20-Preises für das beste Design im Hamburger Maker-Challenge-Wettbewerb
- Gewinn des ersten Platzes bei der iranischen WRO (Weltroboterolympiade) und Erhalt der iranischen Quote für die WRO 2018 in Thailand
- Der zweite Platz bei der iranischen WRO (World Robotic Olympiad) und die Teilnahme des Irans an der WRO 2017 in Costa Rica
- Gewinn der Elite-Auszeichnung der Nationalen Eliten-Stiftung des Irans
- Gewinn der Elite-Auszeichnung der iranischen Stiftung für nationale Elite
- Platzierung unter den zehn Besten bei der nationalen Prüfung für die Aufnahme in das Ph.D.-Programm im Bereich Maschinenbau an iranischen Universitäten
- Erreichen des ersten Platzes bei der nationalen Prüfung für die Zulassung zum Ph.D.-Programm im Bereich Maschinenbau an iranischen Universitäten unter den Studenten der Universität Teheran, 2014.
- Rang 137 unter mehr als 12.000 Teilnehmern an der nationalen Aufnahmeprüfung für den Master-Abschluss an Universitäten
- Platz 17 unter mehr als 6.000 Teilnehmern an der Aufnahmeprüfung der Islamic Azad University of Tehran für den Master-Abschluss, Iran