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Experimental Evaluation of Contact Forces during Activities of Daily Living

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Title: Experimental Evaluation of Contact Forces during Activities of Daily Living
Author: Bilyea, Aubrianna
Department: School of Engineering
Program: Engineering
Advisor: Abdullah, Hussein
Abstract: A novel robotic system has been designed and built to assist individuals with upper limb impairments in performing hygiene-related activities of daily living. It uses off-the-shelf tools instrumented with a 6-DOF force/torque sensor, and to enable the robot to perform specific tasks. The first three tasks to be developed and tested are hair brushing, face wiping, and shaving. Two sets of trials were conducted: static trials to extract preliminary force data and dynamic trials. The objectives of the dynamic trials were validation of a vision system for tool path planning, and development of contact force models. The characteristics of these forces were analyzed, and trends in the data were investigated. Models were developed to map the contact locations and forces that will be used in an algorithm to control future iterations of the device, with vision and force feedback.
URI: http://hdl.handle.net/10214/13031
Date: 2018-05
Rights: Attribution-NonCommercial-ShareAlike 2.5 Canada


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Attribution-NonCommercial-ShareAlike 2.5 Canada Except where otherwise noted, this item's license is described as Attribution-NonCommercial-ShareAlike 2.5 Canada