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

The project is to design and develop an assistive soft exo-musculature robotic elbow prosthetic that: assists those affected in performing daily activities, provides natural movement, and can be controlled with both EMG signals and shoulder movement.

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)

PABI © - Penguin for Autism Behavioral Interventions

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 possibilties.

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

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 - 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.