Undergraduate Student Projects and Research

Major Qualifying Project - MQP, Interactive Qualifying Project - IQP, and Independent Study Project - ISP projects will be available on this page.

If you have ideas for a project that you would like to pursue, or if you are from industry and would like to sponsor a project, please contact Professor Fischer.

Open

Contact Prof. Fischer regarding open MQP Opportunities (Open '19-'20)

Please reach out directly to Prof. Fischer if you are interested in MQP, ISP, DR, Capstone, Thesis, or Dissertation projects associated with the AIM Lab.

Active

MQP - More info coming soon (Active '19-'20)

Details coming soon...

Complete

IQP - Perceptions of Robots in Surgery (Complete '09-'11)

The goal of this work is to study the conceptions about the use of robotis in surgery. We are specifically investigating the differences in these perceptions among different patient and medical professional populations. The work is primarily focussed on use of the da Vinci Surgical System.

MQP - Hybrid Pneumatic-Hydraulic Actuator for MRI Robots (Complete '09-'10)

A linear pneumatic-hydraulic MRI robot actuator was designed as a modular solution to precision motion in a medical MRI environment. The implementation of this non-ferrous and nearly completely non-metallic linear driver mechanism gives an operator the ability to place grippers, sensors, syringes, and other medical instruments with an extraordinary level of flexibility and precision. Its modular design allows for rapid prototyping of robotic systems.

MQP - Force Sensing and Haptic Feedback for Robotic Surgery (Complete '09-'10)

The goal of this research was to develop a force sensing module capable of integrating with the da Vinci system and provide the operator with a representation of tool-tissue interaction forces. dditionally, our aim was to develop a test platform for evaluating and implementing haptic feedback and telesurgery techniques. An industrial robot was fit with a spherical wrist and an embedded Linux control system allowing the surgical tool to be articulated about a remote center.

MQP - Development of a Humanoid Robot for Autism Interventions in Children (Complete '10-'11)

This project is focused on developing a compact, intrinsically safe humanoid robot for interaction with Autistic children. The robot will be able to be used for treatment and assessment.

MQP - Development of a Robotic Telesurgery System (SASHA) (Complete '10-'11)

The goal of this project is to develop a robotic system for performing surgery. This work builds upon previous efforts to turn an industrial robot into a simulated daVinci robot and incorporating torque sensors. The goal is to develop a compact robotic arm that can manipulate daVinci tools from a remote interface, sense interaction forces, and feed those forces back to the operator.

MQP - Hierarchical Swarm Robots (Complete '10-'11)

Swarm

The basis for this idea is that with current implementations of swarm robotics there is an overall trend where all the robots in the swarm are the same in terms of processing power, design, and computational ability. Generally they have the same sensors and chips, and designing therefore it is a micro world where everyone is equal. In reality, that is nearly never the case and it is much more likely the problem is presented via a hierarchy system. As you increase in level of the hierarchy, the overall knowledge, processing power, and reasoning increases drastically. With this application of a swarm, behaviors that closely mimic real life situations can be recreated to a high degree of accuracy.

MQP - PRiSM Pneumatic Stepping Motor (Complete '11-'12)

PRiSM Pneumatic Motor

This project is focussed on developing a pneumatic stepping motor with a primary application of MRI-compatible robotics. The proposed actuator design, known as the PRiSM, uses directed pneumatic pressure to generate rotational motion. To confirm the validity of this idea, multiple tests were designed and conducted. These tests showed that, at 60psi, the PRiSM can operate open-loop with an angular velocity of 7deg/s, while exerting a torque of 435N/mm. Optimized conditions yielded an overall maximum angular velocity of 178deg/s and an overall maximum torque of 747N/mm.

MQP - Exoskeleton Assistive Glove (RoboHand) (Complete '11-'12)

The project is to develop a device to assist people with limited hand movement to be able to open and close their hand to accomplish simple tasks using multiple operating possibilities.

MQP - Stent Design for Percutaneous Cardiac Valve Placement (Complete '10-'11)

The goal is to design a self-expanding Nitinol stent with features to enable attachment to a polyurethane valve, facilitate deployment and repositioning within the aortic annulus. The design was performed in collaboration with Nitinol stent manufacturers, private consultants, and surgeons.

MQP - Guest Orientation, Assistance, and Telepresence (GOAT) Robot (Complete '11-'12)

GOAT Robot

The Guest Orientation, Assistance, and Telepresence (GOAT) Robot will act as a tour-guide or escort at the WPI Campus. GOAT will provide live or telepresence assistance to prospective students as well as academic, corporate, official, and other guests. Users will interact with the robot through a combination of a touch-screen interface, voice, and gesture commands. The robot will guide visitors to destinations and be capable of providing video tour information. It will also be able to serve as a telepresence system for medical and home care environments.

MQP - Assistive Exo-musculature Orthotic Elbow Brace (Complete '12-'13)

The goal of this project is to assist patients with impaired movement and to regain control of their arm. A robotic brace was developed to assist with movement, using signals generated from the user's muscles to drive the arm.

MQP - Software Architecture For A Humanoid Robot For Autism Spectrum Disorder Interventions In Children (Complete '12)

This project is focused on developing an extensible distributed system architecture a compact, intrinsically safe humanoid robot for assessment and therapy of children with pervasive developmental disorders.

MQP - Augmented Reality Robot-Assisted Rehabilitation (Complete '14-'15)

Developing a system for communicating simulated forces to user from a virtual reality setting, in addition to a development tool set for creating virtual reality system applications. The goal is to create such a system as a research and development base for the further development of haptic force interaction with Virtual Reality applications. The primary application is in robotic rehabilitation.

MQP - Exomuscular Sleeve for Upper Limb Stroke Rehabilitation (Complete '13-'14)

The aim of this project was to develop an exomuscular arm that could be actuated through a system of Bowden cables linked to precision DC motors housed in an actuation platform. The system assists and controls flexion and extension of the five fingers and the elbow, as well as pronation and supination of the wrist. Through a sensor array located throughout, a feedback system is able to collect quantitative data on position and pressure, and control all degrees of freedom utilizing this data and several on-board processors.

MQP - Indoor Navigation and Manipulation using a Segway RMP Platform (Complete '13-'14)

The goal of this project was to work with a Segway RMP, utilizing it in an assistive-technology manner. This encompassed navigation and manipulation aspects of robotics. The robot was programmed to accomplish semi-autonomous multi-floor navigation through the use of the navigation stack in ROS (Robot Operating System), image detection, and a user interface. The robot can navigate through the hallways of the building, using the elevator to travel between floors. The robotic arm was designed to accomplish basic tasks, such as pressing a button and picking an object up off of a table.

MQP - PhleBot: The Robotic Phebotomist (Complete '14)

The goal of this project is to develop a compact robotic phlebotomist. Automation of this task by a robotic appliance will greatly expedite clinical procedures while also achieving process consistency. The project aims to design, test and realize a market ready device capable of automatically locating a suitable vein and positioning a needle in it, ready to extract blood.

MQP - Smart Socket: Soft Robotic Prosthetic Socket (Complete '14-'15)

The purpose of this project is to develop a socket for a lower limb prosthetic using electrical, biomechanics and robotics engineering concepts. This socket will be able to adapt dynamically to the user's environment and motion as well as provide comfortable stability. The project will incorporate both internal physiological sensing as well as external physical sensing.