class  Overview

Not only did this class give a great foundation as to how to do the math to solve robot motion, but it also gave a chance to build and explore joint movement with a series of sensors to detect finger motion for hand rehabilitation.

Robot  dynamics  as  applied  to   making   hand   rehabilitation    devices

Building our model

We created a CAD model which was then implemented in SimMechanics, which allowed us to run a GUI in MATLAB that showed the current joint angles.

Model verification

We then verified our model against a motion capture system. The IMU data was fairly reliable, which all things considered, was quite good for a hobby-level product from Adafruit.

glove  implementation

The purpose of this iteration was to see if we could get reliable joint data from a hand as opposed to a finger model.  Although sensor alignment was a problem, it was overall fairly successful and could lead to having a fully instrumented hand in the future.
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To a great team and a great project!