Programmable Stiffness Joint

Team Members

Amanda Care, Eric Nickel, James Yeung

Overview

The Programmable Stiffness Joint is a device that takes a user input (turning a simple dial) and adjusts its stiffness to the desired level.

The goal of our project is:

This is how it works:

We will discuss:

Mechanical Design

The primary structural components used in this device are:

The sensors/actuators used are:

Electrical Design

The primary components used in this circuit are:

• Controller (PIC)
• H-Bridge
• Hall Sensors
• Schmidt Triggers

Code

See full code here

Results

Our resulting design:

Reflections

• More planning
• Simpler mechanical design
• More efficient code