Design Portfolio
GYMBALL
A gyroscopic device for haptics and hand rehabilitation with an actuated rotor and gimbal.
Notable aspects: Maxon framless motor kits with custom housing, a slipring assembly, internal channels for wiring, SLS parts, FEA, interaction force analysis, human subject experiment.
PHASE I - Initial modeling (simulation) and proof-of-concept
PHASE II - Design and analysis:
(1) dynamic stresses on the rotor and gimbal
(2) estimating the forces imposed on the palm using a friction contact model
PHASE III - Fabrication, experiment and results:
(1) The gyroscopic torque generated by the device can passively move the user’s hand.
(2) Both the frequency and intensity of the produced hand motion can be controlled.
Proposed design. Assembly and tests are in progress.
COMPLIANT KNEE MECHANISM
An orthosis with a polycentric knee mechanism with allowances at the thigh and shank cuff was proposed (LEFT). A proof-of-concept test (BELOW) proved its ability to reduce device migration.
PHASE I - A design simulation with a four bar human knee and different braces showed, introducing allowances lowers device migration.
Proposed design with allowances
PHASE II - Proof of concept test comparing different mechanisms in a standardized knee compression sleeve
Results: A n=10 study showed the (1) Geared mechanism is not better than a single axis joint.
(2) Allowance mechanism leads to the lowest device migration and lower interaction forces.
SKIN STRETCH DEVICE
The feedback mechanism consisting of a haptic joystick that provided the force feedback, and a custom designed wearable skin-stretch device utilizing an actuated belt. The feedback signals were modified in accordance to the subject's deviation from a reference trajectory - the safest trajectory that was determined through previous studies with able riders, while accounting for elderly rider's skill set.
COOL PROJECTS THAT WEREN'T MEANT TO BE :(
POWERED ANKLE EXOSKELETON
GYROSCOPIC STABILIZER FOR BICYCLES
