Project

# Title Team Members TA Documents Sponsor
8 Guided Robotic Manipulator for Chinese Calligraphy
 Nuoer Huang
Xinyi Shen
Xirui Yao
Yujie Wei
 design_document1.pdf
final_paper1.pdf
final_paper2.docx
other1.docx
presentation1.pptx
video1.mp4
 Meng Zhang
#### PROBLEM:

Traditional Chinese calligraphy is a sophisticated art form that demands meticulous control over three-dimensional movement, tip pressure (stroke depth), and fluid velocity. Currently, most robotic manipulators are designed for rigid industrial tasks and struggle to replicate the "softness" of a brush and the nuanced transitions required for different artistic styles like Kaishu (Regular Script) or Cursive. There is a need for a high-precision system that can translate the aesthetic essence of human calligraphy into robotic motion, preserving cultural heritage through modern ECE technologies.

#### SOLUTION OVERVIEW:

The project aims to design an intelligent robotic manipulator system capable of executing complex Chinese calligraphy. The system provides real-time control over the brush's trajectory and pressing force to achieve varying stroke widths and styles. By integrating advanced motor control algorithms and sensor feedback, the system coordinates multi-axis movements to achieve the necessary stroke dynamics and tip positioning required for traditional calligraphy. It processes digital stroke data and translates it into precise mechanical movements, ensuring the robotic arm can interact with the paper surface with artistic fidelity.

#### SOLUTION COMPONENTS:

####Manipulator Hardware Modules:

-A multi-DOF mechanical structure designed to provide the necessary range of motion and stability for complex characters.

-Utilizing high-torque servo motors to ensure smooth and accurate movement of each joint.

-A specially designed brush holder with an integrated damping or spring mechanism to simulate the flexibility of a human hand.

####Control & Processing Modules:

-A software module used to convert vector-based character paths (SVG/G-code) into synchronized motor angles using inverse kinematics.

-A microcontroller or PC-based system that processes stroke data and coordinates real-time motion commands.

-A feedback loop that manages the Z-axis height to control the contact area between the brush tip and the paper.

####Sensing & Perception Modules:

-Utilizing sensors (such as FSR) to monitor the pressure exerted on the paper in real-time to prevent paper damage.

-Using a camera to calibrate the initial position of the brush and paper, ensuring the writing stays within the designated boundaries.

#### CRITERION FOR SUCCESS:

-Artistic Fidelity: The system must replicate standard characters with a spatial deviation of less than 2mm compared to the digital template.

-Stroke Variation: The manipulator must demonstrate the ability to produce varying stroke thicknesses by dynamically adjusting the Z-axis depth.

-Operational Stability: The system should be able to perform multiple consecutive writing tasks without mechanical failure or recalibration.

-System Integration: The hardware and software must maintain a stable connection with low latency during real-time command transmission.

#### DISTRIBUTION OF WORK:

- ECE STUDENT WEI YUJIE:

Leading the design and assembly of the robotic arm structure and the custom brush end-effector.

Responsible for the physical stability of the manipulator and the selection of mechanical components.

-ECE STUDENT YAO XIRUI:

Implementing the motor driver circuits and the low-level firmware for real-time motor control.

Ensuring precise execution of the joint angles provided by the server.

-EE STUDENT SHEN XINYI:

Developing the inverse kinematics (IK) model and trajectory planning algorithms.

Converting character stroke data into smooth, coordinated motion paths for the arm.

-ME STUDENT HUANG NUOER:

Implementing the vision-based calibration system and the user interface.

Responsible for system-wide integration, data transmission between the server and hardware, and pressure sensor feedback logic.

Low Cost Myoelectric Prosthetic Hand

Featured Project

According to the WHO, 80% of amputees are in developing nations, and less than 3% of that 80% have access to rehabilitative care. In a study by Heidi Witteveen, “the lack of sensory feedback was indicated as one of the major factors of prosthesis abandonment.” A low cost myoelectric prosthetic hand interfaced with a sensory substitution system returns functionality, increases the availability to amputees, and provides users with sensory feedback.

We will work with Aadeel Akhtar to develop a new iteration of his open source, low cost, myoelectric prosthetic hand. The current revision uses eight EMG channels, with sensors placed on the residual limb. A microcontroller communicates with an ADC, runs a classifier to determine the user’s type of grip, and controls motors in the hand achieving desired grips at predetermined velocities.

As requested by Aadeel, the socket and hand will operate independently using separate microcontrollers and interface with each other, providing modularity and customizability. The microcontroller in the socket will interface with the ADC and run the grip classifier, which will be expanded so finger velocities correspond to the amplitude of the user’s muscle activity. The hand microcontroller controls the motors and receives grip and velocity commands. Contact reflexes will be added via pressure sensors in fingertips, adjusting grip strength and velocity. The hand microcontroller will interface with existing sensory substitution systems using the pressure sensors. A PCB with a custom motor controller will fit inside the palm of the hand, and interface with the hand microcontroller.