1600 Rockland Rd., Wilmington DE 19899
(302) 651 6831 Fax (302) 651 6895
Dissertation Title: Control of a Prosthetic Arm Using Coordinated Movements of the Shoulder
Research Assistant Professor, Department of Mechanical Engineering
Research Assistant Professor, Department of Computer and Information Sciences
Research Associate Professor, Department of Mechanical Engineering and Mechanics
Co-director of the Rehabilitation Robotics Group. As part of the NIDRR funded Rehabilitation Engineering Research Center (RERC) in Robotics, I have been involved in the following projects:
Sensory Feedback: The development of a proprioceptive feedback system that would enable a person with spinal cord injury to control a rehabilitation robot: specific responsibilities include, defining entire project, supervising students and post-docs, developing, modeling and simulating the test-bed system.
Proprioceptive User Control of a Rehab Robot: Development of a master-slave robotic system for people with tremor and spasms. Using signal processing techniques to filter out unwanted tremor through software filters and mechanical impedance. Specific responsibilities include, student supervision, project direction, development of mechanical models and controls.
Powered Orthosis: Development of a hybrid passive/active orthosis for people with MD. Specific responsibilities include, directing the project, developing of a novel passive gravity balancing technique, student supervision, investigation of bilateral (force and position) control.
Chameleon: An applied research project to develop a low-cost, cable operated manipulator, adaptable to various disabilities. Specific responsibilities include, directing project, supervising students, designing entire system, analyzing human parameters.
1990-91, Alfred I. duPont Institute, Wilmington, DE
Post Doctoral Research Fellow. Responsible for directing two research projects in rehabilitation robotics: shoulder interface design for a rehabilitation robot; rehabilitation robot assessment project. Accomplishments included, researching background in rehabilitation robotics, development of a three-axis isometric joystick, design and construction of a shoulder interface to a robot, development of software code for controls.
1985-90, Drexel University, Philadelphia, PA
Rahman, T., Seliktar, R., "Redundancy Resolution in a 4 D.O.F. Prosthetic Arm Using a Kinematic Constraint," Proceedings of the 1990 ISEK Conference, Baltimore, MD, August, 1990
Rahman, T., Seliktar, R., "Kinematic Analysis of a Prosthetic Arm Using Extended Physiological Proprioception," Proceedings of the IEEE/EMBS Conference, Baltimore, MD, November, 1990
Rahman, T., "A Constraint for Human Arm Motion in Joint Space," RESNA Conference Proceedings, Kansas City, MO, June, 1991
Rahman, T., Harwin, W. S., "Bilateral Control in Teleoperation of a Rehabilitation Robot," RESNA Conference Proceedings, Toronto, Canada, June, 1992
Rahman, T., Harwin, W. S., "Bilateral Control in Teleoperation of a Rehabilitation Robot," SPIE Conference Proceedings, Vol. 1833, Boston, MA, November, 1992
Harwin W., Rahman T., Stanger C., Fee J., Foulds R., "The Consumer, the Interface, the Needs, and the Product" Proc. of the 93 Int'l Robotics & Vision Automation Conference, Detroit, MI, April 1993
Harwin, W., Rahman, T., Foulds, R., "A Review of Design Issues in Rehabilitation Robotics with Reference to North American Research" IEEE-Trans on Rehabilitation Engineering, Vol 3, No 1, pp 3-13, March,1995
Chen S., Harwin W., Rahman T., "The Application of Discrete-Time Adaptive Impedance Control to Rehabilitation Robot Manipulators" Proc. of IEEE Int'l conf on Robotics and Automation, San Diego, May 1994
Khatchadourian R., Rahman T., Harwin W., "A Technique for Robotic Assisted Transfer for People with Motor Difficulties" Proc of IROS, Munich, Germany, September 1994
Fass D., Rahman T., Seliktar R., "An Investigation of Residual Shoulder Function as a Useful Input to an Assistive Robotic System Based on Extended Physiological Proprioception" Proc of the Thirteenth Southern Biomed Eng Conf, Washington DC, April 1994
Rahman T., Harwin W., Chen S., Mahoney R., Glass R., Pino D., "Rehabilitation Robot Control with Enhanced Sensory Feedback" Proc of the 4th Int'l Conf on Rehab Robotics, Wilmington DE, June 1994
Proceedings of the Fourth International Conference on Rehabilitation Robotics, Ed. Donna Bacon, Tariq Rahman, William Harwin. Wilmington DE, June 14-16 1994
Mahoney R., Rahman T., Chen S., Harwin W., Glass R., Pino D., "Control Issues for a Head Controlled, Bilateral Teleoperation System for People with Severe Spinal Cord Injury" Proc of the RI/SME fifth Congress on Robotics Research, Cambridge, Mass, Sept. 27-29, 1994 (also accepted for publication in SME TRAN on Robotics Research)
Rahman T., Harwin W., Foulds R., "Electronics Aids and Robotics" in Atlas of Orthotic and Assistive Devices - Biomechanical Principles and Applications (Third Edition) Ed. Bertram Goldberg, Mosby 1995
Rahman T., Ramanathan R., Seliktar R., Harwin W., "A Simple Technique to Passively Gravity-Balance Articulated Mechanisms" Trans. of the ASME- J of Mechanical Design, Vol. 117, No 4, pp 655-658, December, 1995
Harwin W., Stroud S., Ramanathan R., Rahman T., Seliktar R., "Analysis and Design of an Arm Orthosis for Individuals with Muscular Dystrophy" RESNA Conference Proceedings, Vancouver, Canada, June, 1995
Fass D., Rahman T., Seliktar R., "An Evaluation of Residual Shoulder Function as an Input to a Variable-Impedance Assistive Robotic System" RESNA Conference Proceedings, Vancouver, Canada, June, 1995
Jayachandran V., Pino D., Salganicoff M., Harwin W., Rahman T., Chen S., "A virtual Headstick Interface for a Master-Slave Rehabilitation Robot System" RESNA Conference Proceedings, Vancouver, Canada, June, 1995
Gonzalez J., Heredia E., Rahman T., Barner K., Basu S., Arce G., "A New Approach to Suppressing Abnormal Tremor Through Signal Equalization" RESNA Conference Proceedings, Vancouver, Canada, June, 1995 (Winner of best student paper award)
"Research Applications of Engineering in Improving Function in Quadriplegic Subjects" Conference on spinal cord injury- Neurological and Functional recovery, Thomas Jefferson University, Phila PA, February 1992
"Bilateral Control in Teleoperation of a Rehabilitation Robot" Pediatric Grand rounds, Alfred I. duPont Institute, Wilmington DE, August 1993
"The next Five Years of Robotics at ASEL" 2nd Nordic Workshop on Rehabilitation Robotics, Malmo, Sweden, September 1993
"Rehabilitation Robotics" University of Delaware. Dept. of Mechanical Engineering, November 1994
"Rehabilitation Robotics" Catholic University, Dept. of Biomedical Engineering, November 1994
Editor of Rehabilitation Robotics Newsletter published quarterly by the Alfred I. duPont Institute.
Chair of the 4th International Conference on Rehabilitation Robotics (ICORR), Wilmington, Delaware, June 1994. Co-editor of the ICORR 94 proceedings.
Member of NIH study groups reviewing SBIR and STTR applications.
Member of NIDRR study section reviewing fellowship grant applications.
Member of ASME, IEEE, RESNA
Paper reviewer for SME, RESNA, IEEE Robotics and Automation