The goal of this project is to improve the TRINA nursing robot’s ability to perform common medical tasks by designing an improved input device. The selected solution was to create a RoboPuppet, a DH parameter scale model of Baxter’s arms with angle sensors. A RoboPuppet allows for direct manipulation of Baxter’s joint space with one-to-one correspondence. Actuators were integrated to provide the opportunity for gravity compensation and haptic feedback. The puppet was successful in manipulating Baxter’s arms smoothly and precisely.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Heavey, Brent M
• Stelly, Evan Michael

Contributors

• Goldfarb, Nathaniel

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042618-131309

Advisor

• Li, Zhi

Year

• 2018

Date created

• 2018-04-26

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Robotics Engineering

Rights statement

• In Copyright