Faculty

Assistant Professor ANG Wei Tech
Ph.D. (Robotics, CMU), M.Eng., B.Eng. (Mech., NTU)
Assistant Professor
Email:
Office:
Tel:
Fax:
wtang@ntu.edu.sg
N3.1-B2c-20
(65) 6790 4911 (Office)
(65) 6791 8591 (International)
(65) 6792 4062 (Local)
Address:
School of Mechanical and Aerospace Engineering
Nanyang Technological University
50 Nanyang Avenue
Singapore 639798
JUMP TO: Personal Homepage   ||   Projects  ||   Research Interests  ||   Research Grants  ||   Publications

Research Interests

Robot-Assisted Microsurgery, Rehabilitation Robotics & Mechatronics, Assistive Technology, Assisted-Living Technology.

Projects

Medical/Surgical Robotics

Intelligent Handheld Instrument for Microsurgery & Biotech Micromanipulation

To enhance human positioning tasks requiring micro level accuracy (e.g. microsurgery and cell micromanipulation). The intelligent instrument will detect motion, distinguish undesired and intended motion and provide real-time active error compensation by deflecting its tip to compensate physiological tremor and other erroneous movement components. [read more ...]

Vision Guided Cell Micromanipulation

A vision-guided robotic approach is proposed to replace human intervention. A 3 degree-of-freedom piezoelectric-driven robotic manipulator is used to hold a micropipette. A high speed camera with a embedded processor captures images of the cells and the micropipette tip under a conventional microscope, processes the images, and controls the robotic manipulator in real-time to perform the intended task. [read more ...]

 

Micro-Motion Sensing System

Detecting micro motion of a microsurgical instrument in real time to aid training of new surgeons and discover more findings about tremor nature of human's hand. [read more ...]

Assessment and Training System for Micromanipulation Tasks in Surgery

Human accuracy limitations due to physiological tremor is a concern in microsurgery (e.g., eye, hand and neuro-surgery). This restricts the types of feasible microsurgical procedures, making it necessary to train apprentice surgeons and assess their performances. This project will investigate the causes of non-voluntary deviations hindering the quality of interventions, and develop a virtual reality based training system for training microsurgeons to perform manipulation tasks under a microscope. [read more ...]

 

Real-Time Image Stabilizer

Design a zero-phase adaptive filter to accurately separate voluntary and involuntary camera movements in real-time. Filtering of erroneous motion allows to compensate for it while preserving the user's intentional movements. [read more ...]

Rehabilitation Robotics

Active Pathological Tremor Compensation Using Functional Electrical Stimulations

We use the sensed physical motion and EMG signals from the upper limb to attenuate the pathological tremor in real time manner. A filtering algorithm will be developed to differentiate the intended motion and the tremor. [read more ...]

 

Data Acquisition & Synchronization from an Optical Tracker, Accelerometers & EMG

Fusion of different sensors and their respective data. [read more ...]

 

Design and Implementation of a Functional Electrical Stimulation Controller for Upper Limb Tremor Attenuation

The scope of this Master thesis is to make a system analysis to develop a musculoskeletal model of the wrist joint. On this basis, a controller for the electrically stimulated muscle is to be designed. The implementation of the developed controller and subject trails finishes this thesis. [read more ...]

Motivation Driven Stroke Rehabilitation via Bio-Signal Control System

Restore voluntary motor function by bridging gap in damaged/diseased parts of nervous system. A brain-computer interface senses surface electroencephalogram signals elicited by motor imagery & processes it into semantic signals to control functional electrical stimulation of skeletal muscles. [read more ...]

DEFROST (DEvice for FROzen Shoulder Therapy)

A mechatronic chain and sprocket trainer system that enhances the effectiveness and usability of the shoulder pulley kit for frozen shoulder therapy at the Singapore General Hospital (Department of Physiotherapy). More control over the plane and range of patients' arm motion during exercises. Provides real-time auditory and visual performance feedback. Records important performance indicators in an exercise session. [read more ...]

Pro-Balancer

A mechatronic system provides neuromuscular and vestibular training for rehabilitation patients to improve balancing ability. Has 5 adjustable level of difficulty. 3 different modes of exercise and assessment - multi-axial balancing, anterior-posterior balancing and left-right balancing. Provides real-time visual performance feedback. Records important performance indicators in an exercise session. [read more ...]

Multi-Flexor

A compact, modular and portable continuous passive motion (CPM) device for wrist and elbow therapy. [read more ...]

 

FLATS - Future living with Assistive Technology In Singapore

Future Living with Assistive Technology in Singapore (FLATS) is a project that integrates intelligent assistive technology, human factors engineering, and architectural universal design to provide intuitive assisted-living solutions for people with special needs. This project explores ways to improve the quality of life of the disabled and elderly by allowing them to live independently and age in place with the use of assistive technology in smart homes. A prototype smart home would be built and evaluated for large scale implementation. [read more ...]

 

An Investigation on the Use of State-of-the-art Robotics Technology for Assisted Living Applications

Investigates how disabled-friendly our environment (in Singapore) is, compared to the rest of the world. The following issues will be discussed:

  • What measures have been taken to evolve Singapore into a universal society which does not handicap anyone?
  • How successful are these measures?
  • What can be done to improve the situation?
[read more ...]

 

TOP

Publications

Patent:

  1. W. T. Ang, C. N. Riviere, and P. K. Khosla, “Six degrees-of-freedom all-accelerometer inertial measurement unit for handheld devices,” Patent Pending, file date: Sep 14, 2003.

 

Dissertation:

  1. W. T. Ang, “Active tremor compensation in handheld instrument for microsurgery,” Ph.D. dissertation, Robotics Institute, Carnegie Mellon University, 2004.
  2. W. T. Ang, “ Design and implementation of modular robotic arm with active links,” M. Eng. thesis, Mechanical and Production Engineering, Nanyang Technological University, Singapore, 1999.

 

Book Chapter:

  1. Y. L. Zhang, W. T. Ang, S. Z. J. Jin, and Z. Man, “Nonlinear adaptive sliding mode control for a rotary inverted pendulum,” in Advances in Industrial Engineering and Operations Research. Springer, December 2008, pp. 345–360.
  2. U. X. Tan, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang, “Modeling and control of piezoelectric actuators for active physiological tremor compensation,” in Human-Robot Interaction. I-Tech Education and Publishing, 2007, pp. 369–394.
  3. W. T. Ang and M. Xie, “Mobile robotic hand-eye co-ordination platform: Design and modeling,” in Field and Service Robotics. Springer-Verlag, 1998, pp. 308–314.

 

Refereed Journal:

  1. W. T. Latt, U. X. Tan, C. Y. Shee, and W. T. Ang, “Compact sensing design of a hand-held active tremor compensation instrument for better ergonomics,” IEEE Sensors J., 2009, (in press).
  2. D. G. Zhang, P. Poignet, A. Bó, and W. T. Ang, “Exploring peripheral mechanism of tremor on neuromusculoskeletal model: A general simulation study,” IEEE Trans. Biomed. Eng., 2009, (in press).
  3. Y. L. Zhang, M. L. Han, J. Vidyalakshmi, C. Y. Shee, and W. T. Ang, “Automatic control of mechanical forces acting on cell biomembranes using a vision-guided microrobotic system,” Journal of Microscopy, 2009 (in press).
  4. K. C. Veluvolu, U.-X. Tan, W. T. Latt, C. Y. Shee, and W. T. Ang, “Double adaptive bandlimited multiple Fourier linear combiner for real-time estimation/filtering of tremor,” Biomedical Signal Processing and Control Journal, 2009, (in press).
  5. U.-X. Tan, W. T. Latt, K. C. Veluvolu, C. Y. Shee, , and W. T. Ang, “Feedforward controller of ill-conditioned hysteresis using singularity free Prandtl-Ishlinskii,” IEEE/ASME Trans. Mechatronics, 2009, (in press).
  6. U.-X. Tan, W. T. Latt, F. Widjaja, C. Y. Shee, C. N. Riviere, and W. T. Ang, “Tracking control of hysteretic piezoelectric actuator using adaptive rate-dependent controller,” Sensors and Actuators A: Physical, vol. 150, no. 1, pp. 116–123, 2009.
  7. Y. L. Zhang, M. L. H. amd C. Y. Shee amd T. F. Chia, and W. T. Ang, “Self-calibration method for vision-guided cell micromanipulation systems,” Journal of Microscopy, vol. 233, no. 2, pp. 340–345, 2009.
  8. U.-X. Tan, K. C. Veluvolu, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang, “Estimating displacement of periodic motion with inertial sensors,” IEEE Sensors J., vol. 8, no. 8, pp. 1385–1388, 2008.
  9. H. G. Tan and W. T. Ang, “Towards an inclusive society in asia: The invisible helping hand,” Disability and Rehabilitation: Assistive Technology Journal, vol. 3, no. 6, pp. 366–380, Nov. 2008.
  10. W. T. Ang, U. X. Tan, H. G. Tan, T. Myo, C. K. Ng, K. L. Koh, and B. S. Cheam, “Design and development of a novel balancer with variable difficulty for training and evaluation,” Disability and Rehabilitation: Assistive Technology Journal, vol. 3, no. 6, pp. 325–331, Nov. 2008.
  11. F. Widjaja, C. Y. Shee, D. G. Zhang, W. T. Ang, P. Poignet, A. P. L. Bó, and D. Guiraud, “Current progress on pathological tremor modeling and active compensation using functional electrical stimulation,” Gerontechnology, vol. 7, no. 2, p. 240, May 2008.
  12. W. T. Ang, C. N. Riviere, and P. K. Khosla, “Feedforward controller with inverse rate-dependent model for piezoelectric actuators in trajectory tracking applications,” IEEE/ASME Trans. Mechatronics, vol. 12, no. 2, pp. 1–8, Apr. 2007.
  13. W. T. Ang, C. N. Riviere, and P. K. Khosla, “Nonlinear regression model of a low-g MEMS accelerometer,” IEEE Sensors J., vol. 7, no. 1 & 2, pp. 81–88, Feb. 2007.
  14. C. N. Riviere, W. T. Ang, and P. K. Khosla, “Toward active tremor canceling in handheld microsurgical instruments,” IEEE Trans. Robot. Autom., vol. 19, no. 5, pp. 793–800, Oct. 2003.

 

Refereed Journal (review):

  1. F. Widjaja, C. Y. Shee, W. L. Au, P. Poignet, W. T. Ang, “Sensing of Pathological Tremor Using Surface Electromyography and Accelerometer for Real-time Attenuation,” Medical Engineering and Physics, (submitted).
  2. W. T. Latt, U.-X. Tan, K. C. Veluvolu, C. N. Riviere, and W. T. Ang, “Real-time estimation and prediction of physiological tremor from attenuated and phase-shifted sensed signals,” IEEE Trans. Biomed. Eng., (submitted).
  3. K. C. Veluvolu, H. G. Tan, S. S. Kavuri, C. Y. Shee, and W. T. Ang, “Adaptive estimation of EEG rhythms for better event classification,” Computational Neuroscience Journal, (submitted).
  4. H. G. Tan, K. H. Kong, C. Y. Shee, C. C. Wang, C. T. Guan, and W. T. Ang, “Use of Brain Computer Interface (BCI)-activated Neuromuscular Electrical Stimulation (NMES) of the hemiplegic upper limb in acute stroke patients,” Archives of Physical Medicine and Rehabilitation, (review).
  5. K. C. Veluvolu, U. X. Tan, W. T. Latt, C. Y. Shee, and W. T. Ang, “Estimation and filtering of physiological tremor for surgical robotics applications,” IEEE Trans. Biomed. Eng., (review).
  6. D. G. Zhang, F. Windjaja, C. Y. Shee, P. Poignet, and W. T. Ang, “Neural oscillator based control for pathological tremor attenuation,” Biological Cybernetics, (revision).

 

Refereed Conference:

  1. A. P. L. Bó, P. Poignet, D. Zhang, and W. T. Ang, “FES-controlled co-contraction strategies for pathological tremor compensation,” in Proc. Intl. Conf. IEEE/RSJ Intelligent Robots and Systems, St. Louis, Missouri, USA, Oct. 2009, (in press).
  2. E. L. M. Su, W. T. Latt, W. T. Ang, T. C. Lim, C. L. Teo, and E. Burdet, “Micromanipulation accuracy in pointing and tracing investigated with a contact-free measurement system,” in Proc. 31th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Minneapolis, Minnesota, USA, Sep. 2009, (in press).
  3. E. S. Ananda, W. T. Latt, C. Y. Shee, E. Burdet, T. C. Lim, C. L. Teo, and W. T. Ang, “Study of the effect of visual feedback and speed on the accuracy of micromanipulation tasks,” in Proc. 31th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Minneapolis, Minnesota, USA, Sep. 2009, (in press).
  4. F. Widjaja, C. Y. Shee, P. Poignet and W. T. Ang, “Filtering of Intended Motion in Real-time Tremor Compensation for Human Upper Limb Using Surface Electromyography,” in Proc. 31th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Minneapolis, Minnesota, USA, Sep. 2009, (in press).
  5. W. T. Latt, U.-X. Tan, C. Y. Shee, and W. T. Ang, “Research, design, and development of a compact active hand-held physiological tremor compensation instrument,” in IEEE/ASME Intl. Conf. Advanced Intelligent Mechatronics, Singapore, Jul. 2009, (in press).
  6. W. T. Latt, U.-X. Tan, C. Y. Shee, and W. T. Ang, “Real-time estimation and prediction of periodic signals from attenuated and phase-shifted sensed signals,” in IEEE/ASME Intl. Conf. Advanced Intelligent Mechatronics, Singapore, Jul. 2009, (in press).
  7. F. Widjaja, C. Y. Shee, P. Poignet, and W. T. Ang, “FES artifact suppression for real-time tremor compensation,” IEEE 11th Intl. Conf. Rehabilitation Robotics, Kyoto, Japan, June 2009, pp. 53–58.
  8. W. T. Latt, U.-X. Tan, K. C. Veluvolu, C. Y. Shee, and W. T. Ang, “Identification of accelerometer orientation errors and compensation for acceleration estimation errors,” in Proc. IEEE Intl. Conf. Robotics and Automation, Kobe, Japan, May 2009, pp. 1232–1237.
  9. U.-X. Tan, W. T. Latt, C. Y. Shee, and W. T. Ang, “Design and development of a low-cost flexure-based hand-held micromanipulator,” in Proc. IEEE Intl. Conf. Robotics and Automation, Kobe, Japan, May 2009, pp. 4350–4355.
  10. W. T. Latt, U. X. Tan, F. Widjaja, and W. T. Ang, “Placement of accelerometers in a hand-held active tremor compensation instrument for high angular sensing resolution,” in 2008 IEEE Intl. Conf. Robotics and Biomimetics, Bangkok, Thailand, Feb. 2009, (in press).
  11. W. T. Latt, U. X. Tan, K. C. Veluvolu, C. Y. Shee, and W. T. Ang, “Physiological tremor sensing using only accelerometers for real-time compensation,” in 2008 IEEE Intl. Conf. Robotics and Biomimetics, Bangkok, Thailand, Feb. 2009, (in press).
  12. K. C. Veluvolu, H. G. Tan, C. Y. Shee, and W. T. Ang, “Adaptive estimation of EEG-rhythms for event classification,” in 2008 IEEE Intl. Conf. Robotics and Biomimetics, Bangkok, Thailand, Feb. 2009, (in press).
  13. K. C. Veluvolu, U. X. Tan, W. T. Latt, C. Y. Shee, and W. T. Ang, “Double adaptive bandlimited multiple Fourier linear combiner for estimation of tremor,” in 2008 IEEE Intl. Conf. Robotics and Biomimetics, Bangkok, Thailand, Feb. 2009, (in press).
  14. F. Widjaja, C. Y. Shee, W. L. Au, P. Poignet, and W. T. Ang, “An extended Kalman filtering of accelerometer and electromyography data for attenuation of pathological tremor,” in Proc. 2nd IEEE RAS & EMBS Intl. Conf. Biomedical Robotics and Biomechatronics, Scottsdale, AZ, USA, Oct. 2008, pp. 193–198.
  15. W. T. Latt, U. X. Tan, C. Y. Shee, and W. T. Ang, “Handling light disturbances in a micro motion sensing system and investigation of the system performance,” in Proc. 2nd IEEE RAS & EMBS Intl. Conf. Biomedical Robotics and Biomechatronics, Scottsdale, AZ, USA, Oct. 2008, pp. 463–468.
  16. W. T. Latt, U. X. Tan, C. Y. Shee, and W. T. Ang, “Compact sensing design of a hand-held active tremor compensation instrument for better ergonomics,” in Proc. 2nd IEEE RAS & EMBS Intl. Conf. Biomedical Robotics and Biomechatronics, Scottsdale, AZ, USA, Oct. 2008, pp. 276–281.
  17. M. Han, Y. Zhang, C. Y. Shee, and W. T. Ang, “Estimation of the cell deformation,” in Proc. 1st Intl. Conf. Intelligent Robotics and Applications, vol. 5315 LNAI, no. Part 2, Wuhan, China, Oct. 2008, pp. 217–223.
  18. M. Han, Y. Zhang, C. Y. Shee, T. F. Chia, and W. T. Ang, “Plant cell injection based on autofocusing algorithm,” in IEEE Conf. Robotics, Automation and Mechatronics, Chengdu, China, Sep. 2008, pp. 439–443.
  19. H. G. Tan, H. H. Zhang, C. C. Wang, D. G. Zhang, C. Y. Shee, W. T. Ang, and C. T. Guan, “A step towards discretized motion control of the upper limb using brain-computer interface and electrical stimulation,” in 13th Annu. Intl. FES Society Conf., Freiburg, Germany, Sep. 2008.
  20. D. G. Zhang, P. Poignet, and W. T. Ang, “Neural oscillator based control for wrist tremor attenuation via FES,” in 13th Annu. Intl. FES Society Conf., Freiburg, Germany, Sep. 2008.
  21. D. G. Zhang, W. T. Ang, and P. Poignet, “A neuromusculoskeletal model exploring peripheral mechanism of tremor,” in Proc. 30th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Vancouver, BC, Canada, Aug. 2008, pp. 3716–3719.
  22. W. T. Latt, E. S. Ananda, S. C. L. Ong, K. C. Veluvolu, C. Y. Shee, and W. T. Ang, “Design and implementation of a two degree-offreedom micromanipulation assessment system,” in Proc. 30th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Vancouver, BC, Canada, Aug. 2008, pp. 5640–5643.
  23. W. T. Latt, U. X. Tan, F. Widjaja, C. Y. Shee, and W. T. Ang, “A study of a hand-held instruments angular motion due to physiological tremor in micromanipulation tasks,” in Proc. 30th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Vancouver, BC, Canada, Aug. 2008, pp. 1952–1955.
  24. A. P. L. Bó, P. Poignet, F. Widjaja, and W. T. Ang, “Online pathological tremor characterization using extended Kalman filtering,” in Proc. 30th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Vancouver, BC, Canada, Aug. 2008, pp. 1753–1756.
  25. Y. Zhang, M. Han, C. Y. Shee, and W. T. Ang, “Calibration of piezoelectric actuator-based vision guided cell microinjection system,” in IEEE/ASME Intl. Conf. Advanced Intelligent Mechatronics, Xi’an, China, Jul. 2008, pp. 808–812.
  26. F. Widjaja, C. Y. Shee, W. T. Latt, W. L. Au, P. Poignet, and W. T. Ang, “Kalman filtering of accelerometer and electromyography (EMG) data in pathological tremor sensing system,” in Proc. IEEE Intl. Conf. Robotics and Automation, Pasadena, CA, USA, May 2008, pp. 3250–3255.
  27. U. X. Tan, F. Widjaja, W. T. Latt, K. Veluvolu, C. Y. Shee, C. N. Riviere, and W. T. Ang, “Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator,” in Proc. IEEE Intl. Conf. Robotics and Automation, Pasadena, CA, USA, May 2008, pp. 787–792.
  28. H. G. Tan, H. H. Zhang, C. C. Wang, C. Y. Shee, W. T. Ang, and C. T. Guan, “Arm flexion and extension exercises using a brain-computer interface and functional electrical stimulation,” in Proc. 6th IASTED Intl. Conf. Biomedical Engineering, Innsbruck, Austria, Feb. 2008.
  29. M. Rank, O. Stursberg, and W. T. Ang, “A rate-dependent linear modeling approach for pathological tremor applications,” in Proc. 6th IASTED Intl. Conf. Biomedical Engineering, Innsbruck, Austria, Feb. 2008.
  30. F. Widjaja, C. Y. Shee, W. L. Au, P. Poignet, and W. T. Ang, “Towards a sensing system for quantification of pathological tremor,” in Intl. Conf. Intelligent and Advanced Systems, Kuala Lumpur, Malaysia, Nov. 2007, pp. 986–991.
  31. D. Zhang, W. T. Ang, F. Windjaja, and S. C. Yap, “Neural oscillator based control for wrist tremor attenuation,” in Proc. 5th IEEE Intl. Conf. Computational Cybernetics, Gammarth, Tunisia, 2007, pp. 197–202.
  32. Y. Zhang, M. Han, C. Y. Shee, T. F. Chia, and W. T. Ang, “Automatic vision guided small cell injection: Feature detection, positioning, penetration and injection,” in Proc. IEEE Intl. Conf. Mechatronics and Automation, Harbin, China, Aug. 2007, pp. 2518–2523.
  33. D. G. Zhang and W. T. Ang, “Reciprocal EMG controlled FES for pathological tremor suppression of forearm,” in Proc. 29th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Lyon, France, Aug. 2007, pp. 4810–4813.
  34. Y. Zhang, M. Han, C. Y. Shee, T. F. Chia, and W. T. Ang, “Position control using 2D-to-2D feature correspondences in vision guided cell micromanipulation,” in Proc. 29th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Lyon, France, Aug. 2007, pp. 1449–1452.
  35. K. C. Veluvolu, U. X. Tan, W. T. Latt, C. Y. Shee, and W. T. Ang, “Bandlimited multiple Fourier linear combiner for real-time tremor compensation,” in Proc. 29th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Lyon, France, Aug. 2007, pp. 2847–2850.
  36. W. T. Latt, U. X. Tan, K. C. Veluvolu, J. K. D. Lin, C. Y. Shee, and W. T. Ang, “System to assess accuracy of micromanipulation,” in Proc. 29th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Lyon, France, Aug. 2007, pp. 5743–5746.
  37. U. X. Tan, T. L. Win, C. Y. Shee, and W. T. Ang, “Rate-dependent hysteresis model of piezoelectric using singularity free Prandtl-Ishlinskii model,” in Proc. IEEE Intl. Symposium Computational Intelligence in Robotics and Automation, Florida, USA, Jun. 2007, pp. 356–361.
  38. U. X. Tan, W. T. Latt, M. Tanjaya, H. T. Wirawan, C. Y. Shee, and W. T. Ang, “Real-time disturbance compensation with accelerometers and piezoelectric-driven mechanism,” in Proc. IEEE Intl. Symposium Computational Intelligence in Robotics and Automation, Jacksonville, FL, USA, Jun. 2007, pp. 410–415.
  39. M. Akshay, T. L. Win, H. G. Tan, U. X. Tan, C. Y. Shee, and W. T. Ang, “Design and implementation of a mechatronic device for wrist and elbow rehabilitation,” in 1st Intl. Convention for Rehabilitation Engineering & Assistive Technology, Singapore, Apr. 2007.
  40. H. G. Tan, C. Y. Shee, and W. T. Ang, “Towards an inclusive society in asia: The invisible helping hand,” in 1st Intl. Convention for Rehabilitation Engineering & Assistive Technology, Singapore, Apr. 2007.
  41. D. G. Zhang, H. G. Tan, W. Ferdinan, and W. T. Ang, “Functional electrical stimulation in rehabilitation engineering: A survey,” in 1st Intl. Convention for Rehabilitation Engineering & Assistive Technology, Singapore, Apr. 2007.
  42. U. X. Tan, H. G. Tan, T. Myo, D. G. Zhang, B. S. Cheam, K. L. Koh, and W. T. Ang, “Design and development of a novel balancer with variable difficulty for training and evaluation,” in 1st Intl. Convention for Rehabilitation Engineering & Assistive Technology, Singapore, Apr. 2007.
  43. T. L. Win, U. X. Tan, C. Y. Shee, and W. T. Ang, “Design and calibration of an optical micro motion sensing system for micromanipulation tasks,” in Proc. IEEE Intl. Conf. Robotics and Automation, Roma, Italy, Apr. 2007, pp. 3383–3388.
  44. Y. Zhang, W. T. Ang, J. Jin, and Z. Man, “Non-linear sliding mode control for a rotary inverted pendulum,” in Proc. Intl. MultiConference Engineers and Computer Scientists, vol. 2, Hong Kong, Mar. 2007, pp. 1433–1438.
  45. U. X. Tan, T. L. Win, and W. T. Ang, “Modeling piezoelectric actuator hysteresis with singularity free Prandtl-Ishlinskii model,” in IEEE Intl. Conf. Robotics and Biomimetics, Kunming, China, Dec. 2006, pp. 251–256.
  46. D. G. Zhang and W. T. Ang, “Tremor suppression of elbow joint via functional electrical stimulation: A simulation study,” in IEEE Intl. Conf. on Automation Science and Engineering, Shanghai, China, Oct. 2006, pp. 182–187.
  47. W. T. Ang, M. Krichane, and T. Sim, “Zero phase filtering for active compensation of periodic physiological motion,” in Proc. 1st IEEE RAS & EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics, Feb. 2006, pp. 182–187.
  48. W. T. Ang, P. K. Khosla, and C. N. Riviere, “Kalman filtering for real-time orientation tracking of handheld microsurgical instrument,” in Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct. 2004, pp. 2574–2580.
  49. A. Gallagher, Y. Matsuoka, and W.-T. Ang, “An efficient real-time human posture tracking algorithm using low-cost inertial and magnetic sensors,” in Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct. 2004, pp. 2967–2972.
  50. W. T. Ang, P. K. Khosla, and C. N. Riviere, “Active tremor compensation in microsurgery,” in Proc. 26th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, San Francisco, CA, USA, Sep. 2004, pp. 2738–2741.
  51. W. T. Ang, S. Y. Khoo, P. K. Khosla, and C. N. Riviere, “Physical model of a dual-axis MEMS accelerometer for low-g motion tracking applications,” in Proc. IEEE Intl. Conf. Robotics and Automation, vol. 2, New Orleans, LA, USA, May 2004, pp. 1345–1351.
  52. F. Alija-Garm´on, W. T. Ang, P. K. Khosla, and C. N. Riviere, “Rate-dependent inverse hysteresis feedforward controller for microsurgical tool,” in Proc. 25rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, vol. 4, Cancum, Mexico, Sep. 2003, pp. 3415–3418.
  53. W. T. Ang, P. K. Khosla, and C. N. Riviere, “Modeling rate-dependent hysteresis in piezoelectric actuators,” in Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct. 2003, pp. 1975–1980.
  54. W. T. Ang, P. K. Khosla, and C. N. Riviere, “Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument,” in Proc. IEEE Intl. Conf. Robotics and Automation, Taipei, Taiwan, May 2003, pp. 1781–1786.
  55. W. T. Ang and C. N. Riviere, “Assistive human-machine interfaces via artificial neural networks,” in Proc 3rd Intl. Symposium on Robotics and Automation, Toluca, Mexico, Sep. 2002, pp. 477–480.
  56. W. T. Ang and C. N. Riviere, “Neural network methods for error canceling in human-machine manipulation,” in Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Istanbul, Turkey, Oct. 2001, pp. 3462–3465.
  57. W. T. Ang, P. K. Khosla, and C. N. Riviere, “Design and implementation of active error canceling in hand-held microsurgical instrument,” in IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, vol. 2, Maui, HI, USA, Oct. 2001, pp. 1106–1111.
  58. W. T. Ang, P. K. Khosla, and C. N. Riviere, “An intelligent hand-held microsurgical instrument for improved accuracy,” in Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Istanbul, Turkey, Oct. 2001, pp. 3450–3453.
  59. W. T. Ang, P. K. Khosla, and C. N. Riviere, “An active hand-held instrument for enhanced microsurgical accuracy,” in Proc. 3rd Intl. Conf. Medical Image Computing and Computer-Assisted Intervention, Pittsburgh, PA, USA, Oct. 2000, pp. 878–886.
  60. J. Foret, W. T. Ang, M. Xie, and J.-G. Fontaine, “Configuration control of a modular arm with n active links,” in Proc. Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics, vol. 3518, no. 1, 1998, pp. 299–310.
  61. W. T. Ang and M. Xie, “Inverse kinematics and simulation for modular robot with active links,” in Third World Automation Congress, Alaska, USA, May 1998, pp. 1–6.
  62. W. T. Ang and M. Xie, “Design of active links for modular robot,” in Proc. 4th Intl. Conf. Computer Integrated Manufacturing, Singapore, Oct. 1997, pp. 1295–1303.

 

Refereed Conference (submitted/review):

  1. None.

 

Non-Refereed Conference:

  1. M. L. Han, Y. Zhang, C. Y. Shee, and W. T. Ang, “Injection of microbiological cells using microscopic focus method,” in 3rd Asian Conf. Computer Aided Surgery, Singapore, Dec. 2007.
 

TOP

Research Grants

Grant
Project Title
Date
Agency for Science, Technology & Research (A*STAR), SERC Public Funding, Grant #092 101 0061
S$878,328
Asst Prof Ang Wei Tech (Principal Investigator)
Vision-Aided Active Handheld Instrument for Microsurgery
1 Sep 2009 – 31 Aug 2012
Merlion Programme, French Embassy
Euro 30,000
Asst Prof Ang Wei Tech (Principal Investigator)
Collaborator: Asst Prof Phillippe POIGNET (Laboratoire d'Informatique de Robotique et de Micro-électronique de Montpellier (LIRMM), University of Montpellier II, France)
Pathological Tremor Modelling and Active Compensation via Functional Electrical Stimulations
July 2008 – June 2010
Agency for Science, Technology & Research (A*STAR),BMRC Grant 07/1/22/19/538
S$839,760
Asst Prof Ang Wei Tech (Principal Investigator)
Assessment and Training System for Micromanipulation Tasks in Surgery
2008 – 2011
National Medical Research Council (NMRC) Individual Research Grant
S$443,720
Asst Prof Ang Wei Tech (Principal Investigator)
Pathological Tremor Modeling and Active Compensation via Functional Electrical Stimulations
Oct 2006 - Sept 2009
NTU Biomedical & Pharmaceutical Cluster Seed Grant #SCP 001-2005
S$20,000
Asst Prof Ang Wei Tech (Principal Investigator)
Pathological Tremor Modeling and Active Compensation via Functional Electrical Stimulations
1 Mar 2006 - 28 Feb 2007
MOE SEP, Grant #RG63/05
S$50,838.25
Asst Prof Ang Wei Tech (Principal Investigator)
Vision Guided Robotic Cell Micromanipulation
1 Apr 2006 - 31 Mar 2007
(Completed)
Seed Funding, College of Engineering, NTU
S$150,000
Asst Prof Ang Wei Tech (Principal Investigator)
Intelligent Handheld Instrument for Microsurgery & Biotech Micromanipulation
1 Apr 2005 - 31 Mar 2009
Agency for Science, Technology & Research (A*STAR), SERC Public Funding, Grant #052 101 0017
S$563,949
Asst Prof Ang Wei Tech (Principal Investigator)
Intelligent Handheld Instrument for Microsurgery & Biotech Micromanipulation
1 Aug 2005 - 31 Jul 2008
 

TOP