This project focused on a haptic rehabilitation robot developed by Quanser, similar to devices used in post-stroke motor therapy. Using a dome-style handle, the system allows users to interact with virtual environments—such as a simulated virtual wall—by applying forces that respond to the user’s motion. Initially, we were provided with a working Simulink model that controlled the haptic feedback when the hardware was connected, allowing users to feel resistance when colliding with the virtual boundary.

Our task was to fully understand the system model and recreate it without the physical hardware attached. This required breaking down the original Simulink architecture and rebuilding it using principles of kinematics, dynamics, motor modeling, and control systems. We simulated the robot’s behavior mathematically, translating physical interactions into virtual force feedback through careful control logic. This project strengthened my ability to reason through complex systems, debug multi-layered models, and understand how control theory directly supports accessible rehabilitation technology.