Welcome to the Arm Rehabilitation Team Blog

 This is the official blog for the EGR401 Capstone Team for the Arm Rehabilitation Project. Posts will be made here as progress is made on our project.

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Week 0

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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)
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Week 9

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  Continuation of Design Details This week primarily continued our focus of a more in-depth redesign of each module so that we can more efficiently build the initial prototype once parts are available. Motor Backdrivability and Tracking (Elijah) Once deciding that the ClearPath-SC line was the most probable motor for our application, we needed to make sure that specific functions were possible. This first of these functions was backdrivability, which seems to be most probable through the motor's torque limits, which are programmable in both directions. A excerpt from the user manual detailing this can be seen below: The excerpt shows ClearPath's native motor control program, ClearView. When doing further research if it is possible to adjust these limits through the C++ API, it does seem possible through the  sFnd::ILimits::TrqGlobal attribute. It is important to note that the documentation says the torque limit is not typically  changed during an application, but this inf...
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Week 1 - Nathan Tashjian

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 This week was catered to setup and background research for our project. To better understand the objectives and setup of our project, I had to do research. 1st Class Session: -The first session was intended to give background on our capstone project framework, formatting, and general information.  -Our groups also had an opportunity to assemble our necessary resources, such as our scheduled team meetings, Jira board, blog, hours spreadsheet, and communication server. -This was also our first chance to work as a team to delegate work and devise a plan to compile all the work due each week. To-Do list External links tab (link to Jira, Blog, Hours, and any other useful collaborative documents) Hours spreadsheet Letter of Intent: -The team also drafted a letter of intent based on the templates and rubrics found online. In addition, we also got it approved and posted on Blackboard. Research " Robotic therapy helps stroke patients regain function." -This week, I researched the bac...
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