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Robot Dynamics

Spring 2016

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

Picture

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.
Picture

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.
Picture

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.
Picture
To a great team and a great project!
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  • Home
  • About Me
  • Post-Olin ('15-Present)
    • Argo AI
    • Carnegie Robotics, LLC (CRL)
    • WPI MS in RoboE >
      • Capstone
      • Robot Dynamics
      • Robot Controls
      • Concepts of SysE
      • Software System Design
      • Ethics
      • ETR 500: Travelers
    • Helping further STEM Education
    • Traveling through Southeast Asia
    • Ocean Alliance: Conservation Tech for Whales
  • Olin
    • WALL-E
    • Senior Year ('13-14) >
      • NREIP Internship at SSC Pacific Unmanned Systems Group
      • A Tetris-Playing Robot Arm
      • Senior Capstone Program in Engineering (SCOPE)
      • Controls
      • Design for Manufacture
      • Research at Olin Summer 2014
      • Computational Robotics
      • Jazz Theory
      • My Experience as a PoE Ninja
    • Junior Year ('12-13) >
      • C-2 Innovations, Inc (C-2i)
      • SnotBot
      • Mechanical Design
      • Archaeology (ANTH 60A)
      • Principles of Engineering
      • Robo 2
      • Making Food From Scratch: A Passionate Pursuit
    • Sophomore Year ('11-12) >
      • My semester at USC
      • SailBot
      • Voith-Schneider Propeller (VSP)
    • Freshman Year ('10-11) >
      • Modeling and Simulation
      • Design Nature
      • Materials Science
      • Real World Measurements
      • FBE
  • Publications
  • Art