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. • Feedback of patients’ results is graphed and analyzed.
Characteristics of a successful design. Reliable and Safe Accurate Economic Compact Enjoyable and Motivating Challenging Project Specifications
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
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
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
Torque Gear ratio Antenna traverse speed Workspace Requirements Power requirements ZWORLD Driver board motors touch sensor TTL output signal conversion Calculations
Possible Designs Geo-Dome LEGO MindStorms Rug Warrior
Definition Strength reliable accurate fun, enjoyable Weakness expensive difficult to make, set up no portability Geo-Dome
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
Definition Strength small mobile easy assembly already integrated electronics and hardware Weakness expensive difficult position feedback require severe modifications Rug Warrior
Cartesian/Polar carpet Doggy leash 2 bar linkage “Flock of Birds” by Ascension Technology Local GPS Infrared position control Position Tracking of Mobile Designs
Stationary robotic arm accurate stepper motors and driver board Proposed Solutions
antenna for reach and touch sensor for input • specifically selected electronics for control • ability to record performance quantitative data
Programming Mechanical Design Calibrations Issues to be Resolved
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