RoboPuppet is a scale-model version of Kinova Robotics’ Gen3 Arm used for intuitive remote control. This platform is ideal for enabling nurses with limited robotics expertise to work remotely with patients in high-risk and contaminated environments. The RoboPuppet arm contains joint angle sensors and motors which allow for gravity compensation and vibration haptic feedback. The project includes a ROS package for controlling the Kinova Arm both in real life and in the Trina2 simulated hospital environment, with a basic real-time GUI for calibration and debugging.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Feeney, Isabella N.
• De Leo, Francesco J.

Subject

• Health
• Innovation

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050421-205052
• 22066

Keyword

• human-robotics interaction
• nursing

Advisor

• Gennert, Michael A.
• Fu, Jie
• Li, Zhi

Year

• 2021

Date created

• 2021-05-04

Resource type

• Major Qualifying Project

Major

• Robotics Engineering
• Mechanical Engineering

Rights statement

• In Copyright