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siena,
italy
Aquí son las 7:38 a. m.
Se unió el junio 6, 2020
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Zubair I.
@XuberIqbal
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siena,
italy
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An Expert Mechanical Designer
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Portafolio
Portafolio
Bilateral Communication Interface for Human Robot Interactio
Soft Gripper Development
Bilateral Communication Interface for Human Robot Interactio
Soft Gripper Development
Comentarios
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Experiencia
Research Associate
jun 2017 - oct 2017 (4 meses, 2 días)
I joined University of Siena as Research Associate, my responsibilities were development of Robotic Sixth Finger for Patients and Soft Gripper for Industrial Applications.
Manager Technical
mar 2015 - may 2017 (2 años, 2 meses)
I was the head of Mechanical Design and Manufacturing division involved in development of parts and assemblies for heavy vehicles. Working with 3D printers and CNC Machines. Reverse Engineering of parts both Electronics PCB and Mechanical.
Application Engineer Electronics and Mechanical
nov 2011 - mar 2015 (3 años, 4 meses)
I was involved in working on Indigenous Project related to Mechatronics Design and as an Application Engineering in the field of Electronics and Mechanical Engineering. I was involved in providing Technical Support to our customers for the softwares like CADSTAR PCB Design (JAPAN) and PTC CREO Parametric (USA) for Mechanical Design and Simulations. Apart from this i was also involved in after sale support of 3D Scanners from FARO Switzerland. My duties were to provide a complete training.
Educación
PhD in Robotics, Mechatronics and Automation Control
(3 años)
Master in Mechanical Engineering
(2 años)
Bachelor in Mechatronics Engineering
(4 años)
Calificaciones
Expert PCB Design and Simulation
ZUKEN JAPAN
2013
I was awarded this certification by ZUKEN Japan, by successfully completing their PCB Design Software CADSTAR evaluation exam.
Expert in Creo Cabling Design
PTC USA
2013
All the cabling layout pertaining to a complete product development, i was awarded with this certification by Parametric Technological Corporation USA
Expert Mechanical Designer
PTC USA
2013
I was awarded with the certification of Mechanical Design and Simulation
Publicaciones
Design, Development, and Control of a Tendon-actuated Exoskeleton for Wrist Rehabilitation
IEEE Robotics and Automation Letters
presenting an innovative exoskeleton for wrist flexion/extension and adduction/abduction motion training. It is designed to be wearable and easy to control and manage. It can be used by the patient in collaboration with the therapist or autonomously. The paper introduces the main steps of device design and development and presents some tests conducted with an user with limited wrist mobility.
Bilateral Haptic Collaboration for Human-Robot Cooperative Tasks
IEEE Robotics and Automation Letters,
The aim of this letter is to introduce the concept of bilateral haptic cooperation as a novel paradigm for human-robot cooperative tasks. The approach is demonstrated with a system composed of a soft gripper and a wearable interface. The soft gripper,has been designed to guarantee a safe interaction giving the possibility to the operator to reconfigure the device . The wearable interface is used to control the open/close motion of the gripper and to feedback important task parameters
Grasping With the SoftPad, a Soft Sensorized Surface With Rigid Grippers
IEEE Robotics and Automation Letters
A common trend in robotic manipulation is to build compliant hands that can exploit environmental constraints to perform robust grasps. However, in large-scale industrial applications, end-effectors are mostly rigid. How can we exploit environmental constraints using rigid industrial grippers? We propose to add compliance to the environment, thanks to a soft modular pneumatic surface: the SoftPad.
Modeling and Prototyping of a Soft Prosthetic Hand Exploiting Joint Compliance and Modularity
IEEE International Conference on Robotics and Biomimetics (ROBIO)
we presents the design, model and 3D printed prototype of a tendon driven underactuated modular soft prosthetic hand. The proposed robotic hand is actuated using only one motor and a differential mechanism. The flexible fingers of the hand are built with stiff link connected with soft joints. Different stiffness of the soft joints can be set to follow the desired bending trajectory of the fingers.
Design and Prototype of Supernumerary Robotic Finger (SRF) Inspired by Fin Ray® Effect
IEEE International Conference on Soft Robotics (RoboSoft)
In this paper, we present the design and prototype of a wearable supernumerary robotic finger, inspired by Fin Ray , an underactuated device inspired by the physiology of fish fins. The application we propose has been designed for patients suffering from sensorimotor hand impairment, to compensate their missing grasping abilities
Soft hands with embodied constraints: the soft scoopgripper
International Conference on Robotics and Automation
Research in under actuated soft hands is a lively topic, with several potentialities and challenges. Soft hands are simple, robust and able of adapting to uncertain environment and operative conditions, however their intrinsic compliance and underactuation reduce control capabilities and precision. we propose to embed on the hand the positive aspects of studies on environmental constraints exploitation.
The co-gripper: a wireless cooperative gripper for safe human robot interaction
International Conference on Intelligent Robots and Systems
we introduce a set of guidelines for the design of grippers suitable for a safe human robot/interaction in cooperative tasks. Modularity, adaptability, robustness, intuitive control, limited weight are some of the key elements that could allow to effectively spread these devices in industrial and service applications. Following such guidelines, we present the prototype of the Co-Gripper: a robotic device for cooperative manipulation tasks with humans.
Modeling and prototyping of an underactuated gripper exploiting joint compliance and modularity
IEEE Robotics and Automation Letters
this study, we present an efficient mathematical representation of soft robotic fingers based on screw theory. Then, we show how the model and its main properties can be exploited in the design phase, and we present an application for an underactuated tendon-driven gripper with a modular structure, in which the joint stiffness values are defined to obtain the desired equivalent stiffness and kinematics manipulability at the fingertips.
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