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Wei-Tech Ang
Postdoctoral Fellow

No longer a member of RI.

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actuators, control, design, manipulation, mechanisms, mechatronics, medical applications, and sensors

• Medical Instrumentation Lab - We are developing intelligent tools for microsurgery and minimally invasive surgery.
• Medical Robotics and Computer Assisted Surgery - Researching planning (medical image computing, simulation) and execution (intraoperative sensing and actuation) technologies for computer-assisted surgery.

• Micron: Intelligent Microsurgical Instruments - Suppression of hand tremor to improve precision in microsurgery.

• Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications
  W. Ang, P. Khosla, and C. Riviere
  IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, April, 2007, pp. 134-142. [Abstract]
  Download: pdf [368 KB] copyrighted

• Nonlinear Regression Model of a Low-g MEMS Accelerometer
  W. Ang, P. Khosla, and C. Riviere
  IEEE Sensors Journal, Vol. 7, No. 1, January, 2007, pp. 81-88. [Abstract]
  Download: pdf [703 KB] copyrighted

• An efficient real-time human posture tracking algorithm using low-cost inertial and magnetic sensors
  A.T. Gallagher, Y. Matsuoka, and W. Ang
  Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), Vol. 3, October, 2004, pp. 2967 - 2972.
  Download: pdf [778 KB] copyrighted

• Kalman filtering for real-time orientation tracking of handheld microsurgical instrument
  W. Ang, P. Khosla, and C. Riviere
  Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), Vol. 3, October, 2004, pp. 2574 - 2580.
  Download: pdf [769 KB] copyrighted

• Active Tremor Compensation in Handheld Instrument for Microsurgery
  W. Ang
  doctoral dissertation, tech. report CMU-RI-TR-04-28, Robotics Institute, Carnegie Mellon University, May, 2004. [Abstract]
  Download: pdf [2008 KB] copyrighted

• Physical model of a MEMS accelerometer for low-g motion tracking applications
  W. Ang, S. Khoo, P. Khosla, and C. Riviere
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, April, 2004, pp. 1345 - 1351. [Abstract]
  Download: pdf [556 KB] copyrighted

• Active tremor compensation in microsurgery
  W. Ang, P. Khosla, and C. Riviere
  Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, 2004, pp. 2738 - 2741. [Abstract]
  Download: pdf [322 KB] copyrighted

• Toward Active Tremor Canceling in Handheld Microsurgical Instruments
  C. Riviere, W. Ang, and P. Khosla
  IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, October, 2003, pp. 793-800. [Abstract]
  Download: pdf [767 KB] copyrighted

• Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument
  W. Ang, P. Khosla, and C. Riviere
  IEEE International Conference on Robotics and Automation, IEEE, September, 2003, pp. 1781-1786. [Abstract]
  Download: pdf [424 KB] copyrighted

• Rate-dependent inverse hysteresis feedforward controller for microsurgical tool
  F. Alija-Garmón, W. Ang, P. Khosla, and C. Riviere
  25th Annual Conference IEEE Engineering in Medicine and Biology Society, September, 2003, pp. 3415 - 3418. [Abstract]
  Download: pdf [373 KB] copyrighted