Product Development
Design of Wearable Devices for Motion Assistance
Goal of this project was to develop a methodology to design passive wearable orthotics based on a person’s normal motion patterns.
A two-step process is devised iteratively in which angular motion or trajectory matching is used to generate a large number of initial designs. In the second stage devices that produce close to natural motion are obtained by defining and minimizing the weighted sum of both trajectory and joint angular error for each kinematically generated solution.
Design for target end-effector trajectory
Design for joint angular motion
Optimized Device
Design of Mechanical Gripper
The goal of this project was to design an underactuated mechanical gripper, attach it to the wrist of a Universal Robot’s UR5 robotic arm and perform pick-and-place tasks.
Design of Parallel Robot for Self-Alignment of Exoskeleton Axes
The goal of this project was to design a device that can reduce the misalignment of exoskeleton joint axes with human joints.
