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Control and characterization of a novel portable haptic device for upper limb rehabilitation
Control a 3DOF haptic device for hand rehabilitation using Labview (position, velocity and impedance control). Characterize the haptic performance of the device (transparency planes, Z-width)
HandyBot is a new portable haptic device for hand neurorehabilitation after stroke. The robot has 3DOF, one for symmetric hand opening-closing, one for wrist flexion-extension and one for wrist pronosupination. A host laptop is connected to the robot to display in real-time the virtual reality (in Unity) of the proposed exercise, while the robot handles actively reproduce the mechanical properties of the objects displayed in the virtual reality.
The robot has been designed to allow for position control and for impedance control (with or without force feedback). This project is focused on the control of the device using LabVIEW and on the characterization/optimization of the resultant control performance.
Undertaking this project you will:
- Become an expert in human-machine interfaces and interaction both from a hardware and software perspective.
- Improve your Labview and control knowledge.
- Collaborate in a scientific, corporate environment with experienced peers, supporting your research.
HandyBot is a new portable haptic device for hand neurorehabilitation after stroke. The robot has 3DOF, one for symmetric hand opening-closing, one for wrist flexion-extension and one for wrist pronosupination. A host laptop is connected to the robot to display in real-time the virtual reality (in Unity) of the proposed exercise, while the robot handles actively reproduce the mechanical properties of the objects displayed in the virtual reality.
The robot has been designed to allow for position control and for impedance control (with or without force feedback). This project is focused on the control of the device using LabVIEW and on the characterization/optimization of the resultant control performance.
Undertaking this project you will: - Become an expert in human-machine interfaces and interaction both from a hardware and software perspective. - Improve your Labview and control knowledge. - Collaborate in a scientific, corporate environment with experienced peers, supporting your research.
The aim of this project is to control HandyBot in Labview and optimize/evaluate its performance.
The aim of this project is to control HandyBot in Labview and optimize/evaluate its performance.
1. Improve existing position control algorithms (10%)
2. Implement impedance control (with/without force feedback) (20%)
3. Implement gravity/inertia/friction compensation algorithms (30%)
4. Characterize and optimize the resultant performance (e.g., evaluate ROM, transparency planes, Z-width, residual friction). (30%)
5. Write a thesis in IEEE paper-format (10%)
1. Improve existing position control algorithms (10%) 2. Implement impedance control (with/without force feedback) (20%) 3. Implement gravity/inertia/friction compensation algorithms (30%) 4. Characterize and optimize the resultant performance (e.g., evaluate ROM, transparency planes, Z-width, residual friction). (30%) 5. Write a thesis in IEEE paper-format (10%)
You are a student with an electrical, mechanical, mechatronic engineering background with interest in robotics and control. You enjoy working in a creative and motivated environment in a responsible, systematic and autonomous manner.
You are a student with an electrical, mechanical, mechatronic engineering background with interest in robotics and control. You enjoy working in a creative and motivated environment in a responsible, systematic and autonomous manner.