Human-Robot Interactive Systems Sunil K. Agrawal, Ph.D. Professor - - PowerPoint PPT Presentation

Training Students in Mechatronics through Design of Human-Robot Interactive Systems

Sunil K. Agrawal, Ph.D. Professor of Mechanical Engineering and

• f Rehabilitation Medicine

Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu Web: http://me.columbia.edu/sunil-agrawal

My Background: ROAR Laboratory

• Human-robot interactive Systems.
• Study of posture, gait, balance
• Wearable sensors / actuators
• Motivate Mechatronic education

through human applications

Quick Motivation: Dynamic Spine Brace: Correcting Abnormal Posture

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu Medical Collaborator: David P. Roye, MD

Quick Motivation: ALEX II: Exoskeleton for Gait Training of Stroke Patients

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu Clinical Collaborator: John Scholz, PhD

Quick Motivation: SoleSound: Gait Analysis and Vibro-tactile Feedback

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu Medical Collaborators: Andy Gordon, PhD Heakyung Kim, MD Joe Dutkowsky, MD

Undergraduate Machine Design Class Mechatronics Projects

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu

• Rodent gait Trainer

trainer

• Laparoscopic surgery
• Design and fabricate a robot

that uses 4 dc servomotors to guide end-points on prescribed paths

• Write governing equations

and program these

• Grading based on novelty,

fabrication, assembly, and accuracy of the path

Subject matter expert

• Prof. Jack Martin, CUNY

Subject matter expert

• Dr. Dennis Fowler, CUMC

Undergraduate Machine Design Class Project Logistics

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu

• Time-line

– 1 month to design with an in-class presentation – 1 month to fabricate and test with an in-class demo

• $100 budget to order small parts
• Students have access to mill, lathe, laser cutter, and 3D

printer

• Mentored by instructor, TAs, lab manager, and lab

technicians

• NI-Labview-MyRio based testing platform with motors,

associated electronics, and instrumented tools given to the students

Undergraduate Machine Design Class Learning Objectives

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu

• Understand the design process and limitations
• Learn how electronics is integrated within machines
• See how theory translates into practice and the

effects of non-ideal conditions

• Work in teams and understand group dynamics
• Have a first exposure to design before Senior design
• Experience the thrill in creating a working design

Undergraduate Machine Design Class Sample Projects

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu

Concluding Remarks

Sunil K. Agrawal, Ph.D., Professor Columbia University, New York, NY 10027 Email: Sunil.Agrawal@columbia.edu

• Students love integration of mechanical design with

electronics and programming

• Fun learning environment for the students motivated

by a human application

• Logistic Challenges for the students and instructors

to grasp multi-disciplinary concepts

• Collaborative group experience for students is a great

plus during interviewing.