Quanser Haptic Rehab Robot

A large black polygon shaped robot with a 90 degree elbow juttign out, with a dome shaped handle at the end. Red, black, and yellow wires coming out of the top

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.

We used MatLab Simulink with Quanser Lab

NeuroSense: Smart Anxiety Wearable

For my senior design project, my team developed an anxiety wearable that uses physiological and motion data to detect potential spikes related to anxiety episodes. The system integrates heart rate (HR), galvanic skin response (GSR), and inertial measurement unit (IMU) sensors to monitor changes in the wearer’s body. When heightened levels of anxiety are detected thorugh elevated heart rate and increase in skin sweat, the device is designed to provide haptic feedback via an LRA motor and through a Bluetooth-connected mobile app, that tracks data and sets threshholds.

a hand laying flat on a table with a battery and sensors laying on the back of the writst

Testing placement

a battery with sensors laying next to an apple watch for size comparison

Comparing existing products

a white 3D printed watch design around a writst

Prototyping PLA and TPU

3 hand sewn bands with black velcro, 2 denim colored, and one black

Trying fabric bands

2 hands holding a small heart rate sensor attached with wires to a Arduino micro controller

Testing harware sensors

Connecting multiple senors (HR, GSR, IMU) to the MCU

a picture of a computer screen displaying Arduino code that shows heart rate readings

Testing software code on Arduino IDE software

A screenshot of a mock up mobiel app that displays vital physiological signs like heart rate, sweat, and movement

Developing SwiftUI app

2 gold, 3 black, 1 white, and 1 blue 3D printed tray. with the battery pack sitting on one gold tray

Making 3D housing

Assembling housing, band, and battery

Buyning new components to resuce size (Seeed Studio MCU instead of Arduino Nano)

Testing new HR, LRA, and MCU on a breadboard

Updating UI and features to view all sensors in real time

New housing for smaller components

Back side has hole for the HR sensor

Wiring components into the final housing

The final physcial product included: Hemp cord braided band with watch clasp, 3D printed hosuing, MCU with built in BLE and IMU, heart rate sensor, GSR sensor, LRA driver and motor surrounded by silicone

This is a two-semester project, and by the end of the first semester we successfully developed multiple hardware prototypes. These included a complete enclosure and wearable band prototype, as well as a breadboard-based system with all three sensors integrated and Arduino code displaying real-time sensor readings. We implemented an LRA feedback system that gives alerts and reminders in sings of increased anxiety, as well as provides guided breathing and calming vibration patterns. We developed a mobile app interface that diplays real time data, interprets the sensor values as stress level, and triggers feddback when the set threshold is surpassed. We refined the wearable’s form factor after getting user feedback from mental health counselors, students with disabilities, and fellow engineering students. Future things to explore are a smaller compact design (through utalizing a custom printed circuit board instead of plug and play preprogrammed modules.), updated software to expand to alerting to motor seizures or other medical conidtions, and band/clasp alternatives (solicone or nylon, and magnetic closeures for people who have limited physcial fine motor control).

User survey and interviews conducted

Eletrical schematics and pcb models made in Fusion CAD

Finite Element Analysis performed in SolidWorks to test housing strength

Additional work involved user-centered design, CAD modeling and FEA/stress analysis, outreach coordination, budgeting, technical presentation preparation, and documentation.

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