Faculty Advisor

Li, Zhi

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2018

Major

Interdisciplinary

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Mechanical Engineering

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