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 2

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  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
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Week 1

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  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
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