We finished our final prototype demonstration. We would like to thank Dr. Harris-Love, Dr. Sikdaar, and Dr. Ross for all the assistance and feedback during the semester. We are now done for this semester. Using all the feedback we got, we will continue to improve and work on our design through the fire and the […]

This is the final prototype for the Spring semester. The end product consisted of an IMU MPU 6050 sensor on top of a soldered board. The electrodes were placed on the triceps for the stimulation. The Functional Electrical Stimulation (FES) system that was used was the PurePulse Duo. The sensor data was collected using the […]

Our initial prototype consisted of a breadboard, a arduino mega, an IMU MPU 6050, and our stimulation device, the PurePulse Duo. Here’s a picture of our initial prototype on the hinge connected to the computer and our stimulation electrodes on the triceps of the upper arm:

Initially, the methodology to calculate the desired joint angle is as follows: simply integrate the accelerometer data twice, and integrate the gyroscopic data once (as gyroscope yields angular rate). However, upon doing this, we realized that the data/plots were inaccurate. This is because when integrating, the noise is also added (oops). Numerous filters were designed […]

For this semester, since we’re focusing only on collecting data on the horizontal plane and stimulating the triceps to move the forearm, we needed to create a device that would stabilize the arm in the position. We tried to create a frictionless hinge that could move across the XY plane that wasn’t too heavy and […]

Of course, any sensor used needs a processor; a microprocessor is preferred, to keep the design lightweight and portable. The microprocessing element for this project shall be Arduino, a popular open source electronics platform. The Arduino board used for this project is the Arduino Mega 2560. It is on the higher end of all the […]

In order to determine our position, our joint angle, we will need a sensor to do so. Accelerometers have been implemented for this purpose in previous studies. However, the disadvantage to accelerometers is that they are very prone to noise. The gyroscope is another sensor capable of measuring our desired rotation orientation, however there is […]