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.
Worcester Polytechnic Institute
Major Qualifying Project
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