Intuitive Assistive Robotic Manipulator (I-ARM)

Abstract

This project presents the design and fabrication of an intuitive robotic manipulator tailored for assistive use by individuals with but not limited to upper limb disabilities. This initiative aims to enhance user quality of life by enabling them to perform tasks that might otherwise be challenging or impossible, promoting autonomy and accessibility. The manipulator leverages an EMG and IMU based control system for intuitive operation, wirelessly controlling the robot through a wearable device. Its versatility encompasses functions like grasping objects and executing various movements. The project incorporates a multi-pronged approach, emphasizing mechanical design, electronic integration, and user-centric programming. Safety, reliability, and user-friendliness are paramount considerations. A key driver is to reduce the cost of assistive technology. This necessitates a cost-effective approach, employing 3D printing (FDM process with PLA) for select components and readily available electromechanical actuators. The manipulator boasts three degrees of freedom with revolute joints and an adaptive fin gripper end effector.