AVATAR Arm

For my engineering capstone project in the fall of 2019, a group of classmates and I developed a robotic arm and haptic exoskeleton that would allow the user to interact with a remote environment. This project was inspired by the ANA AVATAR X-Prize competition that developed remotely operated robotic avatars.

My main contribution to the project was developing a servo actuator that could be used in both the arm and the exoskeleton. To achieve this I designed a motor controller for brushless DC motors that allowed for closed loop position and torque control in near real-time. I was responsible for the electrical and firmware development of the controller and the physical integration with the motor to create a complete servo package.