Previous Research

Conventional joysticks have a limited degree of motion and are unable to precisely measure the amount of force being applied during use. This is in part due to the conventional use of components such as electronic switches, potentiometers and optical sensors.  

Our proposed design for a robotic joystick provides a method for measuring the direction of the applied force/torque and its intensity along 3 axes for translational motion (upwards-downwards, forwards-backwards, left-right) and 3 axes for rotational motion (clockwise and anticlockwise pitch-yaw-roll).

We used a 2-axes force sensor called TrackPoint to quantify force when applied. The sensors were arranged in a 8-sensor framework to maximize the number of achievable axes. 

The hardware components of the joystick including the main body, grip, side covers and base were all designed on SolidWorks. 

We performed an FEA analysis to determine strength and elasticity of the thin walled portions of the Flexible Hinge. This was a vital component that brought the joystick back to its initial position after the force applied was lifted. 

The designed components were 3D printed and assembled alongside the sensor framework on the joystick body. 

Finally, we programmed a customized GUI to monitor real-time sensor output and record the force direction as well as intensity. 

We developed a novel method called 'Force Mapping' to determine the output of the 6-axical joystick. The output of the sensor was displayed as an arrow to show the direction of the force along with a number (in Mickeys) to depict force intensity that could then be converted to Newtons. 

Our GUI successfully displayed any applied force along 6 axes in real-time. This allows our joystick to have multiple potential applications including driving a multi-dof robotic arm in surgical and industrial settings or controlling a gaming character with a greater freedom of movement. 

Future research can focus on extending the 6-dof range of motion to 12-dof, which will address mid-axes movement as well.

Unmanned Ground Vehicle (UGV) robots with durable bodies capable of withstanding hard terrains and weather conditions are too costly for small industries, landowners, rescue operators and for underground mine exploration. 

We provided a low-cost, yet sturdy wireless surveillance robot as an alternative. Our robot used caterpillar tracks for firm ground grip and boasted extended arms with balata belts for climbing stairs/obstacles within range. It could be controlled remotely through a secure wireless connection from any computer or laptop with the control GUI. The robot was also able to provide real-time video footage through a top-mounted wireless camera.

We designed the robot body on Solid Edge and manufactured it through aluminum casting. Next, we assembled the Arduino microcontrollers, H-bridges, lead-acid batteries, electric motors, PCBs and all other electrical and electronics components on the body.

After constructing the UGV, we tested it on various terrains under different conditions to maximize its performance. We also built GUI on MATLAB Simulink to display the live video and to control the robot through a wireless connection. 

Our project's poster presentation at the Open House garnered a lot of attention from industrial representatives due to its cost-effective manufacturability. Future work can be done on expanding its range by adding a GPS module, or a sensor array which will be able to enhance the UGV's surveillance capabilities.