DEREK LI

Developed a 5-degree-of-freedom wearable arm exosuit designed as the primary controller for a teleoperated robot. The system captures multi-axis human kinematics to dictate precise robotic actuation over a wireless connection.

• Teleoperation Control: Engineered the exosuit to function as a kinematic input device, translating the user's biological joint movements into synchronized remote robotic articulation.
• Scope Iteration: While initial project goals included load-bearing and physical movement assistance, strict time constraints led to a focused pivot purely on perfecting the teleoperation capabilities.
• Control Strategy: Originally intended to use IMUs for inverse kinematics, time constraints led to directly mapping joint angles using ST3215 servos. Robust software safety limits were enforced to protect the remote robotic arm.
• Kinematic Synthesis: Designed low-friction multi-axis linkages configured to mimic biological human joint dynamics and ensure accurate positional telemetry mapping.

Engineered an adjustable structural parallel-arm linkage smartphone/tablet stand integrated with a gas spring cylinder to enable smooth vertical displacement, heavy loading capacity, and variable multi-angle viewing versatility.

• Gas Cylinder Integration: Calibrated mechanical kinematics with a gas spring cylinder featuring 60 degrees of rotation to assist in smooth height adjustments.
• Adjustable Clamp Sub-assembly: Designed a robust C-clamp mounting bracket configured to secure rigidly to table surfaces spanning 9.0 mm to 75.0 mm thick.
• Multi-Axis Articulation: Combined dual-ended joint inserts and low-friction hinges to provide expanded horizontal sweep, tilt-swivel adjustments, and precise angular orientation.