Series Elastic Actuator Robot Arm

I led a team of over 20 engineers in the design, analysis, and manufacturing of a humanoid robot arm capable of sensing torque in millinewtons by using titanium Series Elastic Actuators (SEAs). This sensing technology was used to make the arm a backdrivable cobot. I was responsible for the mechanical design of the arm and end effector, finite element analysis, and inverse kinematics.  We developed a CAN bus architecture using an admittance control loop to move the robot arm to joint angles corresponding to the 3D position of a HTC Vive controller over ROS 2 Humble. Below is the 100+ page documentation of the design.

Team Members:  James Edward Colgate, Alexander Makhlin, Tomasz Trzpit, Davin Landry, David Dorf, Joshua Feist, Chris Uustal, Rhodes Fotopulos, Sparsh Gautam, Dean Huang, Yoon Sung Kim, Nicholas Marks, Arielle Menasce Traub, Sean Morton, Kit Ng, Daniel Park, Will Phillips, Louie Shapiro, Alex P. Sharper, Garrett Short, Corey Wang, Bill Yen, Oliver Chen