3-DOF Admittance Control Robotic Arm with a 3D Virtual Game for facilitated training of the hemiparetic hand

Agnieszka M. Agas, Abigail A. Daitol, Umang B. Shah, Lorelle J. Fraser, Kevin M. Abbruzzese, Kiran K. Karunakaran, Richard Foulds

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

The '3-DOF Admittance Control Robotic Arm with a 3D Virtual Game' is a senior capstone design project for the New Jersey Institute of Technology. This robotic arm is designed for facilitated training of the hemiparetic hand i.e. for patients in need for rehabilitation of their upper extremities. The virtual 3D game is an interactive environment that will track the movements of the robotic arm. In this paper, the software architecture and robot platform is presented. A basic overview of system flow is as follows: a user positions their finger into the end effector of the robotic arm and presses on a strain gauge to input a force; this force is feed into the admittance control paradigm to produce a coordinate position; this position is relayed to the game to move the game cursor accordingly and into an inverse kinematics algorithm that calculates the angles for this position; finally these angles are feed into motors that make up the 3-degrees of freedom for the robotic arm to move the links to this position.

Original languageEnglish (US)
Title of host publication2015 41st Annual Northeast Biomedical Engineering Conference, NEBEC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479983605
DOIs
StatePublished - Jun 2 2015
Event2015 41st Annual Northeast Biomedical Engineering Conference, NEBEC 2015 - Troy, United States
Duration: Apr 17 2015Apr 19 2015

Publication series

Name2015 41st Annual Northeast Biomedical Engineering Conference, NEBEC 2015

Other

Other2015 41st Annual Northeast Biomedical Engineering Conference, NEBEC 2015
CountryUnited States
CityTroy
Period4/17/154/19/15

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Cancer Research
  • Cell Biology
  • Molecular Medicine
  • Biomedical Engineering
  • Control and Systems Engineering

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