1. Spring 2013 Marc DeAngelis Paul Hauris Katherine Leshkow Jennifer Moore

2.  Complex Joint  Full Range of Motion  Inversion/Eversion  Plantar Flexion/Dorsiflexion  Internal/External Rotaton Background

3. Basic Goals  x-, y-, z-axes  Load applied  Horizontal, vertical  5DOF Our Goals  Working Model  User-friendly  Cost Effective  Minimal Machining

4.  Pin Layered Layered Framed Plates Framed Plates Gimbal Gimbal Designs 4DOF

5. Framed Plate 3 DOF

6. 4 DOF Built upon earlier ideas Gimbal

7. Basic Conceptual Design Selected Design 4 DOF

9. Design Modifications Joint Design Motors Load Cell

10. Joint Design

11. Calculations Torque Consideration Weight Requirement Final Selection 100 lbs Design Modifications - Motor Selection

12. Design Modifications - Load Cell Function Importance of Location

14. Necessary Change Earlier Design’s Flaws

15. Design Flaws – Translational Flaw

16. Control Algorithm

18. Servo without Filter Servo with 2 nd Order Butterworth Pass Filter

19. Cost Analysis Base Plates 24” x 24” 1” thick Al plate - $544.97 18” x 18” 1” thick Al plate - $306.55 Stabilizer Base 3/16” thick Al - $63.19 Three Motors - $719.94 Vertical Bearings - $92.88 6DOF Analog IMU - $72.50 Arduino Uno - $29.95 TOTAL ESTIMATED COST: $2,768

20. Gantt