MIT Department: Mechanical Engineering
Undergraduate Institution: California State University, Long Beach
Faculty Mentor: Harry Asada
Research Supervisor: Phillip Daniel
My name is Jairo Yobani Maldonado-Contreras and I am from Santa Maria, California. I am currently pursuing a B.S. in Mechanical Engineering at California State University, Long Beach. My research interests lie within the fields of robotics and controls systems. I am to pursue a Ph.D. in Mechanical Engineering and contribute to the wellbeing of others through robotic research. When I am not studying, I enjoy reading books, playing chess, and participating in competitive games of soccer.
2018 Research Abstract
Building Reduced-Scale Supernumerary Robotic Limbs (SRLs)
J. Maldonado-Contreras1, P.H. Daniel2 and H.H. Asada3
1Department of Mechanical Engineering, California State University-Long Beach
2, 3Department of Mechanical Engineering, Massachusetts Institute of Technology
Wearable robots may prove useful in reducing the physical strain that workers experience within industrial settings. This research focuses on the development of a reduced-scale ten-degree-of-freedom prototype of the MantisBot; a wearable robot that provides support to the wearer’s upper-body during ground-level work with two Supernumerary Robotic Limbs (SRLs). A reduced-scale prototype would enable the testing of step-planning algorithms on the SRL system without the need of human trials, high-cost testing, and the complexity of the full-scale system. Robust step-planning algorithms will increase mobility and reduce the risk of injury while operating the MantisBot. The prototype consists of four limbs that simulate two human thighs and two SRLs. The limb lengths and joint torques of the prototype were scaled-down to one-third of the limbs lengths and joint torques of an average male wearing the MantisBot. We anticipate the prototype to execute human-like movements and stepping commands under the full-scale weight of 92.3 kg. Adhering to the deterministic design process of high-torque robots, stiffness tests were conducted to verify the stiffness models of critical limb components.