• Sponsor– UROP

– ZWORLD Corp.

– W. M. Berg Corp.

•Advisor–Professor David J. Reinkensmeyer

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

Possible Designs

•Geo-Dome

•LEGO MindStorms

•Rug Warrior

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

Proposed Solutions

• Stationary robotic arm– accurate stepper motors and driver board

– antenna for reach and touch sensor for input

– specifically selected electronics for control– ability to record performance quantitative data

Issues to be Resolved

• Programming• Mechanical Design• Calibrations

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

Conclusion

• The goal of the project is to help people in the rehabilitation process by allowing them to exercise their arm and to obtain quantitative results to in mapping of patient’s workspace.