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Presentation Slide
Project Portfolio - Intel_robo_lab_2.pdfOverview of the research projects
Overview of the research projects
Parallel Elastic Actuation design optimization for retraction mechanism in Hybrid Robotic wheelchair-exoskeleton.
The modulation of Angular Actuator stiffness to Cartesian Endpoint Stiffness for Planar Robotic Rehabilitation Robot
Bidirectional ElasticFlat spring design providing torsional stiffness
Conference paper published in
IEEE/ASME Advanced Intelligent Mechatronics (AIM 2023)
Conference presentation slide
AIM23_presentation_v2.pdf
Design, control, and validation of the paper:
Design, control, and validation of the paper:
" Modulation of Joint Stiffness for Controlling the Cartesian Stiffness of a 2-DOF Planar Robotic Arm for Rehabilitation "
Detailed diagram of the arm assembly
What?
Develop a planar robotic arm and mounting solution prioritizing portability, cost-effectiveness, and precise controllability.
How?
Employ a 3D printed carbon-fiber reinforced nylon for the robotic arm parts to ensure optimal structural integrity and durability while keeping costs low. Utilize the T-motor AK70-10 Quasi-direct drive modular actuator for its modular design, enabling seamless integration and providing capabilities for position, velocity, torque, and stiffness control.
Results?
The implemented structure demonstrates excellent performance under various loads. The motor effectively achieves desired positions, velocities, torques, and stiffness levels, as validated through experimentation.
What?
Design and prototype a robust force/stiffness validation setup with minimal backlash (mechanical tolerances) while prioritizing modularity, stability, and structural integrity under high loads.
How?
Employ a Ball Screw Linear Actuator system to minimize backlash, complemented by a geometrically-constrained 3D printed mount. This mount securely interfaces the metal pins from the endpoint of the robot arm with the top of the force sensor. The linear actuator, driven by a stepper motor, ensures precision and functionality even under substantial loads.
Results?
Achieved accurate force readings and high-resolution movement capabilities. The setup demonstrates resilience in handling increasing forces without compromise.
Detailed diagram of the validation rig assembly
Actual experimental setup for force/stiffness validation
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