- Bachelor Minor: Biorobotics
- We developed and built an EMG-controlled robot for patients with Duchenne Muscular Dystrophy (DMD) to lift and unscrew jars or bottles.
- It involved robot kinematics, programming of an embedded system, robot control and biomedical signal analysis.
- I was the main responsible for the code of the microcontroller.
Due to the degrading of muscles of Duchenne Muscular Dystrophy (DMD) patients, it becomes hard and at some point impossible to perform daily tasks. Our goal was to make a daily task possible with a robot that was controlled by electromyogram (EMG) signals. The project was a combination of the four courses: robot kinematics, programming of embedded systems, control of robotic systems, and biomedical signal analysis. The final result was a robot that could hold on to a jar or bottle with a rotatable gripper. In this way, you could unscrew jars or bottles.
The EMG signal received from the muscles was filtered with a high-pass, 50Hz notch and a low-pass filter. Inverse kinematics was used to find the reference position of the motors and together with the current position, it was fed through the proportional-integral-derivative (PID) controller. That output was then sent to the motors. All computations were done on an embedded system.
Most of my work went into programming. I designed and built the state machine. At the same time, I was responsible for other team members to deliver their code and implement it in a correct manner.
