Robotic Arm
Amber B1
brushless motors
harmonic drives
cycloidal reducer
aka cyclodial drive or gear
reduces the speed and increases the torque of a motor
Robot Operating System
our project
add a force sensor
high quality manual therapy
knowing position
lens that lets light through tiny holes
How do we make it safe?
< 1-9 gear reduction
spring in arm
sensor in gear shaft
not back-driveable
add AI algorithms to Robot movement
muscles
sensory
focue
position
sensors
motors (current under load)
"everybody has a back problem"
collect "good" manual therapy
also see Gazebo
medical device
might have too much of a delay for our purposes
need less than a 20ms delay
chain-link connection
power / current
network
click to edit
open socket
asynch commands
click to edit
Force Controller
best for ML training
real-time operating systems
Windows
Linux (special real-time version)
"real time" means guaranteed latencies