Zhian (Aria) Ruan
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Robotics · Haptics rendering

Lower-Limb Exoskeleton Transparency Control

Transparent haptic rendering with near-zero interaction force and less than 10 ms delay.

Lower-limb exoskeleton test system

Stack: Python, ROS Noetic

Highlights

  • Developed a test system for transparent haptics rendering on a lower-limb exoskeleton using ROS Noetic
  • Evaluated and validated parameters for PID and IIR filters by generating Bode plots and analyzing shifts in RMSE in Python
  • Achieved near-zero output at human movement frequency with less than 10 ms delay in real time

Built during my research internship at Shirley Ryan AbilityLab, Chicago.