Title
Faculty Advisor
Li, Zhi
Abstract
The goal of this project is to improve the TRINA nursing robots 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 Baxters arms with angle sensors. A RoboPuppet allows for direct manipulation of Baxters 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 Baxters arms smoothly and precisely.
Publisher
Worcester Polytechnic Institute
Date Accepted
April 2018
Major
Mechanical Engineering
Major
Robotics Engineering
Project Type
Major Qualifying Project
Copyright Statement
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work, subject to other agreements. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted.
Accessibility
Unrestricted
Advisor Department
Mechanical Engineering