Week 1 (Elijah)

 This week was primarily setup and preliminary research to better understand the project at hand. 


Class Meeting

  • Our first class meeting was setting up the online resources for the rest of the project.
  •  This included the hours sheet, this blog website, Jira, and a Discord server that we will use for the project (pictured below).


Letter of Intent
  • Another task completed this week was the letter of intent, which was formulated as a group from the online template, approved, then posted to the Blackboard (pictured).
  • In lieu of this, the Blackboard group was also created which is seen in the below picture.


Background Research
  • Research on the prevalence of stroke, connections to mobility related disabilities, details involved in neurorehabilitation programs, commonly used rehab techniques, and previous robot-assisted training paradigms was conducted. 
  • Some of the notable finds from the research were:
  1. The high risk of stroke in older populations and the effect it has on the daily life of the victim (DALYS = disability-adjusted life years), as shown in the graph below.

    2. The large range of treatment options for motor rehabilitation for stroke patients. The figure below            only depicts treatments for arm-hand movements which is the area this project focuses on. 

Credit: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3913786/

    3. Previous robot-assisted programs such as the MIME robot, which was able to switch between 4            modes that ranged from moving the patient's arm on its own, to creating resistance against the                patient to help in strength training.
Credit: https://www.rehab.research.va.gov/jour/06/43/5/pdf/Lum.pdf

Comments

Post a Comment

Popular posts from this blog

Week 0

Image
Start of Second Semester   This week was the start of the second semester and focused on the mechanics and graphics of the program. Program Display (Elijah) Established a final theme for the GUI , and developed a second more straightforward theme to account for different audiences . Created the ability to use the program without a motor to allow for non -motor issue troubleshooting . Motor inputs are set to 0 (as seen in demo ) Linkage Forces Math (Sean) Checked Dr. Kim's math for solving the (x,y) coordinates of the end of arm Checked Dr. Kim's math for Torque required to produce a force at the end of the arm. Was going to ask Dr. Kim some questions but I became sick, so will do that Thursday. Handle Redesign(Nathan) Handle Redesigned for different heights. Handle size and material reduced. (Gavin)
Read more

Week 2

Image
  The Second Week Back   This week we focused on completion of 30% of the project which included milestones for each subsystem to complete as well as Completing Deliverable 5.  Kinematic/Kinetic Implementation and Risk Assessment (Elijah) Implemented the foundation of kinematic tracking with a single motor and translating that to a correlating screen position (responsible for the moon moving on screen ) Implemented the foundation of kinetic response to path deviation with a single motor , increasing the applied acceleration to a correction to ultimately control the torque to output the specified force on the handle Implemented correction timing mechanic , in which the user can correct themselves within a specified time limit before the motor takes effect completed sections 5 .4 - 5 .5 focusing on risk assessment and implementation End Connectors CAM and Assembly Drawings (Sean) Completed CAM for End Connectors Discussed CAM with Blake Shishido Completed Drawings for Full Assembly as we
Read more

Week 1

Image
  The First Week Back This week we focused on redesigns for the linkage system, some force mechanics research, as well as gaining an understanding for what will be necessary to have 30% completion by the 24th.  Force Field Research & Motor Code Time Tests (Elijah) https://www.sciencedirect.com/science/article/pii/S0165027012004736?casa_token=AO8eNFj4LAkAAAAA:25cCp1lG-zfDO-fEjP4doXl2ZQ7PDhODTE-xHWemj-rrrkQw-FP2ySvuFeykV3wAH7_5qdku  (Paper Link) Using the original given forcefield paper from last semester, found another robot named BioMotionBot, a very sophisticated 3D motion bot made in 2013. A lot of design revolved around using a 6D torque sensor (Manus also used this), while ours will rely more on calculations. (Cause these are really expensive) Had useful info and equations regarding force fields, which will be the crux of the course correction mode. Figure 1: BioMotionBot Figure 2: Force Field Equation (3D) Created a dedicated test screen in the program, capable of now causing
Read more