Exoskeleton-Controlled Haptic Hand
I worked in a team of four to create a haptic robotic arm controlled by a physical exoskeleton in fall 2012 for Principles of Engineering at Olin College. The haptic feedback of the robotic arm to the exoskeleton was created by attaching a force sensor to the claw of the robotic arm. The robotic arm moved up and down using a servo which was controlled by a potentiometer on the exoskeleton. The chassis was controlled by a set of buttons on the exoskeleton. The haptic feedback mechanism worked beautifully.
I designed and built the exoskeleton and did the majority of the software. The exoskeleton was designed to be comfortable to use and light. The exoskeleton has an adjustable length. It is attached to the user with Velcro straps around the forearm and pointer finger. The software was created via Arduino and was optimized for multiple inputs. It interfaced the exoskeleton and robotic arm quickly and efficiently . It also controlled four chassis motions: brake, slow forward, forward, and back.
I learned about the challenges of system integration in this project. I enjoyed learning about the capabilities of Arduino. I loved creating an exoskeleton that is comfortable to use.
For more information on this project, please click here.
I designed and built the exoskeleton and did the majority of the software. The exoskeleton was designed to be comfortable to use and light. The exoskeleton has an adjustable length. It is attached to the user with Velcro straps around the forearm and pointer finger. The software was created via Arduino and was optimized for multiple inputs. It interfaced the exoskeleton and robotic arm quickly and efficiently . It also controlled four chassis motions: brake, slow forward, forward, and back.
I learned about the challenges of system integration in this project. I enjoyed learning about the capabilities of Arduino. I loved creating an exoskeleton that is comfortable to use.
For more information on this project, please click here.