sponsor –urop –zworld corp. –w. m. berg corp. advisor –professor david j. reinkensmeyer
Post on 23-Dec-2015
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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
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
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
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
Calculations
• Torque• Gear ratio• Antenna traverse
speed• Workspace
Requirements
• Power requirements– ZWORLD
– Driver board
– motors
– touch sensor
• TTL output signal conversion
Geo-Dome
• Definition• Strength
– reliable
– accurate
– fun, enjoyable
• Weakness– expensive
– difficult to make, set up
– no portability
• 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
Position Tracking of Mobile Designs
• Cartesian/Polar carpet• Doggy leash• 2 bar linkage• “Flock of Birds” by Ascension Technology• Local GPS• Infrared position control
– antenna for reach and touch sensor for input
– specifically selected electronics for control– ability to record performance quantitative data
Proposed Time TableFall 1998Week 1-5 Preparation and brainstormingWeek 6 UROP proposalWeek 7 More brainstorming and research on robot kits, sensorsWeek 8 Purchase robot kits, materials and electronic partsWeek 9 Preparing the kits and circuits; Visitation to clinic to observe
therapy and talk to patientsWeek 10
Winter 1999Week 1 Possibly a Rehabilitation Engineering Society of North America
(RESNA) seminar in Long Beach; building kit
Week 2 Building the Rug Warrior; soldering of electronic componentsWeek 3 Mounting sensors on the Rug Warrior; testing accuracy of sensors electronics and mechanicsWeek 4 Programming movements of Rug Warrior and debuggingWeek 5 Constructing the antenna arm; testing motorized extension and
retractionWeek 6 Mounting pressure sensor on armWeek 7 Programming movements of arm; debugging; testing accuracy
of degrees of freedomWeek 8 Mounting antenna onto Rug Warrior; testing cohesiveness ofentire device;Week 9 Study the power consumption of entire device
Week 10 Preliminary design review with PowerPoint presentation
Spring 1999Week 1 Improving mechanical aspect of robotWeek 2 Visitation to clinic to observe therapy and talk to patientsWeek 3 Improving electronics aspect of robotWeek 4 Analyze data and possible system errorsWeek 5 UROP symposiumWeek 6 Improving on portability of robotWeek 7 Extensive testing of device and fine tuningWeek 8 Extensive testing of device and fine tuningWeek 9 Extensive testing of device and fine tuning; prepare for project
dayWeek 10 Senior project day
Proposed Budget
Main SetupZworld Microcontroller $450
Microkinetics Optidriver, Stepper Motors & Power Supply
$700
Touch Sensor $10Antenna $40
Materials:Aluminum stock & machining $30
Gears $60Bearings $35
Electronic Parts:Resistors $5
Capacitors $10op amps $10
MOSFETS: P and N channel $20Solder $15
electrical tape $5
Total $1390
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