2. Sponsor –UROP –ZWORLD Corp. –W. M. Berg Corp. Advisor –Professor David J. Reinkensmeyer

3. Goal The goal of the project is the construction of a robotic system that performs rehabilitation exercise for patients suffering from cerebral palsy or stroke. Feedback of patients’ results is graphed and analyzed.

4. Project Specifications Characteristics of a successful design. –Reliable and Safe –Accurate –Economic –Compact –Enjoyable and Motivating –Challenging

5. Basic Issues 3 degrees of freedom –position control movement via C programming mechanical design feedback of all touched 3D positions –polar coordinates are plotted and saved

6. Existing Issues Integration of motors with ZWORLD microcontroller PC and microcontroller interfacing and data transfer Robust, yet compact chassis Gearing issues Modification of a motorized car antenna Positioning of touch sensor plate

7. Preliminary Test Plans Touch sensor Stepper motor and PC integration Range of motion and reach from car antenna ZWORLD demo board Power supply Safety and reliability

8. Calculations Torque Gear ratio Antenna traverse speed Workspace Requirements Power requirements –ZWORLD –Driver board –motors –touch sensor TTL output signal conversion

9. Possible Designs Geo-Dome LEGO MindStorms Rug Warrior

10. Geo-Dome Definition Strength –reliable –accurate –fun, enjoyable Weakness –expensive –difficult to make, set up –no portability

11. Definition Strength –easy to set up –reliable –portable –inexpensive Weakness –lack of versatility –weak structure –lack of hardware feedback\data-acquisition –difficult for position control LEGO MindStorms

12. Rug Warrior Definition Strength –small –mobile –easy assembly –already integrated electronics and hardware Weakness –expensive –difficult position feedback –require severe modifications

13. Position Tracking of Mobile Designs Cartesian/Polar carpet Doggy leash 2 bar linkage “Flock of Birds” by Ascension Technology Local GPS Infrared position control

14. Proposed Solutions Stationary robotic arm –accurate stepper motors and driver board

15. – antenna for reach and touch sensor for input – specifically selected electronics for control – ability to record performance quantitative data

16. Issues to be Resolved Programming Mechanical Design Calibrations

17. Proposed Time Table

18. Proposed Budget

19. Conclusion The goal of the project is to help people in the rehabilitation process by allowing them to exercise their arm and to obtain quantitative results to in mapping of patient’s workspace.