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Advisor Professor David J. Reinkensmeyer. Sponsor UROP ZWORLD Corp. W. M. Berg Corp. . Goal. The goal of the project is the construction of a robotic system that performs rehabilitation exercise for patients suffering from cerebral palsy or stroke.

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Presentation Transcript
slide2

Advisor

    • Professor David J. Reinkensmeyer
  • Sponsor
    • UROP
    • ZWORLD Corp.
    • W. M. Berg Corp.
slide3
Goal
  • The goal of the project is the construction of a robotic system that performs rehabilitation exercise for patients suffering from cerebral palsy or stroke.
  • Feedback of patients’ results is graphed and analyzed.
project specifications
Characteristics of a successful design.

Reliable and Safe

Accurate

Economic

Compact

Enjoyable and Motivating

Challenging

Project Specifications
basic issues
3 degrees of freedom

position control

movement via C programming

mechanical design

feedback of all touched 3D positions

polar coordinates are plotted and saved

Basic Issues
existing issues
Integration of motors with ZWORLD microcontroller

PC and microcontroller interfacing and data transfer

Robust, yet compact chassis

Gearing issues

Modification of a motorized car antenna

Positioning of touch sensor plate

Existing Issues
preliminary test plans
Touch sensor

Stepper motor and PC integration

Range of motion and reach from car antenna

ZWORLD demo board

Power supply

Safety and reliability

Preliminary Test Plans
calculations
Torque

Gear ratio

Antenna traverse speed

Workspace Requirements

Power requirements

ZWORLD

Driver board

motors

touch sensor

TTL output signal conversion

Calculations
possible designs

Possible Designs

Geo-Dome

LEGO MindStorms

Rug Warrior

geo dome
Definition

Strength

reliable

accurate

fun, enjoyable

Weakness

expensive

difficult to make, set up

no portability

Geo-Dome
slide11
Definition

Strength

easy to set up

reliable

portable

inexpensive

Weakness

lack of versatility

weak structure

lack of hardware feedback\data-acquisition

difficult for position control

LEGO MindStorms

rug warrior
Definition

Strength

small

mobile

easy assembly

already integrated electronics and hardware

Weakness

expensive

difficult position feedback

require severe modifications

Rug Warrior
position tracking of mobile designs
Cartesian/Polar carpet

Doggy leash

2 bar linkage

“Flock of Birds” by Ascension Technology

Local GPS

Infrared position control

Position Tracking of Mobile Designs
proposed solutions
Stationary robotic arm

accurate stepper motors and driver board

Proposed Solutions
slide15

antenna for reach and touch sensor for input

  • specifically selected electronics for control
  • ability to record performance quantitative data
issues to be resolved
Programming

Mechanical Design

Calibrations

Issues to be Resolved
conclusion
The goal of the project is to help people in the rehabilitation process by allowing them to exercise their arm and to obtain quantitative results to in mapping of patient’s workspace.Conclusion
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