Assignment 9

We've had a great week of progress! We will be meeting Sarah Czora, an expert wound care nurse, to show her our project and get feedback from for the final stretch this Wednesday, which Afifah was been leading scheduling for. On Thursday, we will be evaluating our robot solution with two users, a user with eczema and a CNA. The CNA will be watching the robot solution work with the eczema user and provide feedback from a caretaker's perspective. This will be integrated into our final report and video clips. Afifah has taken the lead on our video script, from her past expertise, and Heer provided input with how demonstrations + user feedback can be captured by the video. For filming plans, Heer is planning to film with the users and Andrew will be leading the rest of the filming segments along with editing, per his past expertise in videography. 

In terms of programming, Heer and Simran worked on developing a custom service node for robot pose replaying.  With that node, Andrew solved a deadlock bug that was preventing multiple poses from being replayed. For the final interface design, all of have taken turns with the design. Before, we were planning to have an application roller for the ointment application. However, after testing, we realized that the application was blotchy and not well absorbed into the skin with the roller. Andrew suggested using a soft paintbrush instead, and after testing that application, the ointment was much better applied to the skin and felt comfortable. This also means that we will not be using a node for wrist movement, but rather utilize the main arm up/down node we've implemented to apply the ointment with the brush being clasped by the gripper horizontally and applying ointment with the brush with the robot arm moving up and down.

From our proposal feedback, we are planning to approach the navigation node last if we have time, but we will be sure to provide an update on it through our final report.