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 5

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Move to Linkages Last week we discussed with the client about the mechanical system that the handle movement will be based on. This week we were able to compare the 2 systems (gantry and linkages) and understand how to calculate the forces from each system. Based on our meeting with our client and our analysis of the linkage system we decided to switch to a linkage system in order to deliver/receive the forces. Deliverable 4 Rework on Mechanical movement System Concept due to the switch from Gantry movement system to linkage movement system. Conception of linkage modules. Formatting of Deliverable 4 for each concept and pros and cons. Formatting of Each Module and pros and cons. A Checklist was created in order to assure each requirement for deliverable 4 was met. Budget Rough outline of our budget and breakdown of our major expensive. Shakedown Test Plan Shakedown plan created which designates which critical to function parts/mechanisms we would like tested. Shakedown Test Plan - Goog...
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