Faculty Advisor

Li, Zhi

Faculty Advisor

Mughal, Maqsood Ali

Faculty Advisor

Putnam, Craig B.


The Tele-Robotic Intelligence Nursing Assistant (TRINA) assists nurses working with infectious patients by performing highly repetitive tasks. The project focused on fabricating a new version of the 2017-2018 Telenursing RoboPuppet through the addition of motors and sensors that provide haptic feedback to the user while simultaneously resisting gravity when the user releases the device. The addition of a simulation environment to visualize the forward/inverse kinematics as well as fully functioning hand controls for TRINA allows for a more user friendly working system. This article discusses the process of the fabrication and implementation of the circuitry, hardware, and programming for the first iteration of the active version of the Telenursing RoboPuppet.


Worcester Polytechnic Institute

Date Accepted

May 2019


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Mechanical Engineering

Advisor Department

Electrical and Computer Engineering

Advisor Department

Computer Science