Adeel Raza
Adeel worked primarily on the software components of the project. In the initial stages of the project, Adeel conducted research to determine the feasibility of using the Microsoft Kinect for tracking the operator’s hand position. After this Adeel worked on accessing the Kinect skeleton data and displaying it in a Windows application. Next work was done on interfacing with the robotic arm through various software tools. In the final stages of the project Adeel tackled TCP socket connectivity and programmatic position control of the robtoic arm. |
Ahmed Abdul-Salam
From the beginning of the project Ahmed took over project management responsibilities, including devising project schedules and tracking progress. On the technical side, Ahmed was responsible for identifying the robotic arm requirements, and then networking with third parties in order to acquire a robotic arm. Furthermore, Ahmed was responsible for IMU specification and selection, as well detailed CAD design for force feedback design iterations. In the second part of the project Ahmed continued to oversee project management responsibilities, and was involved with several aspects of the prototype’s development from a systems and integration perspective, owing to a multi-disciplinary engineering skill set. |
Anas Abu-Romeh
Anas was in charge of investigating the various possible actuator types that can be used for conveying the feedback information to the operator in an intuitive, comfortable and fast manner. Following this investigation, Anas recommended using vibrator mechanical motors and completed a cycle of testing involving various types of vibrator motors to find the optimal type. For the remainder of the project, Anas was in charge of designing and fabricating the operator worn sleeve and mounting the chosen vibrator actuators onto it, as well as writing control code to actuate the correct motor or motors based on the force feedback information received from the robot site. Additionally, Anas helped in developing the code that controls the robot arm based on location information received from the controller site. |
Tope Akinsipe
Tope worked on developing a system architecture that connects all the components of the project together and defined how parts should be connected. Tope also worked on conceptualizing the resistive grip device and coming up with initial sketches of how the design will be built to provide grip feedback sensation to the user. The research on force sensors was also carried out by him. Tope also constructed the glove unit for the final design and developed the program for interfacing between the Arduino and glove unit components namely the force sensor and vibrator motors. |