Project Description
The Physical Therapy Robot is a project, which uses a robot in communication with a Kinect camera to help physical therapy patients. The robot being used is the RoboPhilo, which has 20 servos for maximum freedom of motion to make it as lifelike as possible, in conjunction with an ATmega32 microcontroller. The Kinect camera records the patient doing the physical therapy exercise. This recording is then converted into joint angle measurements, which can be sent to the robot. The robot will then mimic the patients movements based on these angle measurements. Afterwards, the robot will demonstrate the correct form of the exercise from a stored set of joint angles from a recording of a physical therapist doing the exercise correctly. This process will repeat until the patient performs the exercise correctly within a certain set of tolerances determined by the physical therapist.
Deliverables
- Have the robot display three types of walking behavior.
- Send information from the Kinect to the robot.
- Have the robot mimic Kinect walking behavior.
Milestones
- Assemble the robot. (est. 9/9/16-Complete)
- Test and Calibrate the robot. (est. 9/12/16-Incomplete-possible problem with microcontoller)
- Have the robot perform 3 types of walking behavior. (est. 9.26/16-Incomplete-Dependent on Milestone 2)
- Send real time information from the Kinect to the robot. (est. 10/3/16-Incomplete-Dependent on Milestone 2)
- Have the robot mimic the Kinect monitored walking behavior. (est. 10/13/16-Incomplete-Dependent on Milestone 2 and 4)
Extension/Changes
No changes were made during the progression of the project, but in the future it is likely that a different robot or at least a different microcontroller will need to be used.