Cable-Driven Robotic Platform for Head-Neck Movement Assistance

This project focuses on the design and development of an innovative cable-driven robotic platform aimed at assisting individuals with head-neck movement difficulties. The goal is to enhance mobility and improve the quality of life for users through precise movement coordination and advanced control algorithms.

Key Responsibilities:
- Design and Development: Contributed to the design and construction of a cable-driven robotic platform, ensuring it met the specific needs of individuals with head-neck movement difficulties.
- Kinematic Analysis and Dynamic Modeling: Analyzed and modeled the kinematics of the system. Created, refined, and simulated the dynamic model of the dummy head to ensure system stability and responsiveness.
- Control Algorithms: Developed and implemented control algorithms for precise movement coordination. Utilized system identification techniques to improve the performance and responsiveness of the model.
- Workspace Mapping and Path Planning: Mapped the tensionability workspace and developed strategies to avoid or mitigate negative cable tensions. Implemented path planning algorithms to ensure effective movement.
- Safety Features: Implemented a cone-shaped force field around the dummy head to maintain and assist movement within a specified range, enhancing safety and effectiveness.
- Prototyping: Assisted in the engineering and construction of prototype models, providing input on mechanical and electrical design aspects.
- Testing and Validation: Participated in functional and safety tests to validate the effectiveness and reliability of the platform.