2008 ASPIRE REU Mentors
Project 1
Faculty Advisor Aaron Steinfeld, PhD
Grad Student
Location CMU
Title Cyberinfrastructure of Human-Robot
Interaction Research
Abstract We seek to provide the field of Human-Robot
Interaction (HRI) with collaborative
mechanisms and methods for evaluation and
exploratory analysis. To this end, we will
develop and deploy a cyberinfrastructure that
will support evaluation documentation, data
collection, data sharing, and cross-study
comparisons.
Depending on the student’s skills and
interests, expertise will be acquired in
collaborative infrastructures, databases, or
data visualization. Ideally, the student will
complete the project having developed a
component that can be deployed in other
projects. Examples include MediaWiki
extensions, website front-ends for data
contribution and labeling, database schemas,
etc.
Activities in which students will engage Development of infrastructure tool(s), regular
meetings with team.
Skills needed for project Possible backgrounds: Computer science,
engineering
Desired skills: familiarity with Postgres,
MediaWiki, and/or Java. Experience with Linux
or data visualization is a plus.
Special requirement No
Skills acquired System integration, data management, data
sharing specification, data visualization
Project 2
Faculty Advisor Alicia Koontz, PhD
Grad Student Jennifer Collinger
Location HERL
Title Shoulder Kinetics and Trunk Positioning
During Overground Wheelchair Propulsion
Abstract The student will work to develop a Matlab
program to calculate upper limb joint kinetics
during overground manual wheelchair
propulsion. Kinetic data is recorded at the
pushrim using SmartWheels and kinematic
data is recorded using a Vicon motion
analysis system. One goal of this project is to
determine how trunk positioning affects
shoulder joint loading during wheelchair
propulsion over various surfaces (tile, carpet,
and ramp). The student will work as part of the
Biomechanics group at the Human
Engineering Research Laboratories and will
have the opportunity to participate in data
collection for various studies.
Activities in which students will engage Data collection, data processing (inverse
dynamics calculations with Matlab), literature
search, biweekly research meetings,
statistics, written and oral presentation of
project results
Skills needed for project Required: Matlab programming,
biomechanics course (kinetics and kinematics)
Special requirement No
Skills acquired: Human subjects testing experience, matlab
programming skills related to biomechanical
Project 3
Faculty Advisor Alicia Koontz, PhD
Grad Student Padmaja Kankipati
Location HERL
Title Investigation of Transfer Techniques to
Minimize Shoulder Joint Loading
Abstract It is well established that individuals with
spinal cord injury (SCI) have a high
prevalence of repetitive strain injuries of the
shoulder and wrist. These injuries are
believed to be caused by overuse of the upper
extremities. Mobility, transfers and pressure
relief maneuvers are a large part of the daily
life of individuals with SCI. Literature sources
on upper extremity pain among individuals with
SCI indicate transfers as a primary reason for
the pain. However, there is a lack of research
that identifies the most effective and safest
way to perform a transfer activity. The purpose
of this study is to conduct a biomechanical
analysis of transfers to determine transfer
techniques which may help to preserve upper
limb function and maintain independence with
transfers’ overtime.
Activities in which students will engage Data collection and coding
Conduct database bibliographic searches
Follow lab protocol
Entering collected data into a database
and post-processing of data
Assist with manuscript development with
potential for co-authorship
Potential to generate a 1st author
conference proceedings article
Attend weekly meetings with research team
Skills needed for project Basic word processing skills
Biomechanics fundamentals
Knowledge of any programming language
or application tool such as MATLAB will be a
plus point
Special requirement This project will take place at the Human
Engineering Research Laboratories. It is
accessible by public transportation or the free
VA shuttle (which travels between the VA
Oakland Hospital to/from the VA Highland
Hospital). Free parking is also available.
Skills acquired: Matlab proficiency
Familiarity with VICON motion analysis
Project 4
Faculty Advisor Brad Dicianno, MD
Grad Student Sara Sibenaller
Location HERL
Title
Abstract
HERL has developed an Isometric joystick that is rigid and senses forces applied to its post. It has been shown to perform just as well, and in some cases better than a standard joystick. This joystick is currently being tested in different populations such as in individuals with Cerebral palsy, individuals with tremor, and individuals with traumatic brain injury to determine whether it may be useful for power wheelchair driving or computer access for those with severe upper limb impairments. In this project we are building software control algorithms to try to improve an individual’s ability to use this joystick when they have a severe movement disorder. This project involves designing on-screen computer access tasks and the advanced controller algorithms that will be used to filter out involuntary movements from user input. This project will give students exposure to designing software based on a user’s requirements and that can possibly be adapted to change when user needs change.
Activities in which students will engage
Skills needed for project
Sufficient experience with C/C++ programming. Familiarity with computer graphics. Desire to learn MATLAB Preference will be given to those who are familiar with OpenGL and have experience with developing computer games.
Special requirement
Skills acquired:
Project 5
Faculty Advisor Dan Ding, PhD
Grad Student Shivayogi Hiremath
Location HERL
Title Evaluation of Activity Monitors in People with
Spinal Cord Injury
Abstract The aim of this project is to will explore the
utility of activity monitors to assess energy
expenditure among manual wheelchair users
with Spinal Cord Injury (SCI) during varying
modes and intensities of physical activity. As
part of the research experience you will be
exposed to testing and data analysis of activity
monitors during various exercises. Data
analysis will be conducted by comparing
outputs of the activity monitors with metabolic
data on the targeted physical activities.
Students depending on their interest will be
encouraged to build new devices or develop
new algorithms to estimate energy expenditure
for different physical activities. The goal is to
provide an effective tool to gauge physical
activity and to monitor interventions that aim at
meeting the physical activity recommendations
among manual wheelchair users with SCI.
Activities in which students will engage Data collection, Data analysis, Weekly
meetings with research team
Skills needed for project Possible backgrounds: Electrical or Computer
science, engineering
Desired skills: familiarity with MATLAB,
Digital electronics
Special requirement No
Skills acquired: Experimentation, data collection, data analysis,
exposure to new softwares
Project 6
Faculty Advisor Diane Collins
Grad Student Ana Souza
Location HERL
Title Mobility-related assistive technology for
individuals with MS
Abstract Fifty individuals along the continuum of MS
will be interviewed to determine at what stage
they
begin using different mobility-related assistive
technology. A healthcare clinician will also
conduct
a healthcare assessment to determine whether
the current AT the participants are using is
the best
for them at present.
Activities in which students will engage The student will assist with data entry,
bibliographic searches, preparation of data
and data analysis,
will prepare a RESNA paper and meet weekly
with the research team. Also, students will be
encouraged
to participate in other studies around HERL to
get more research experience.
Skills needed for project Microsoft office applications
Special requirement No
Skills acquired: statistical analysis basics, data management
and entry, technical writing skills, basics of
Faculty Advisor Ed Lopresti
Grad Student Vinod Sharma
Location AT Sciences
Title Detecting Drop-Offs for a Robotic Wheelchair
Abstract The University of Pittsburgh, in collaboration
with Pittsburgh-based company AT Sciences,
is developing a Drive Safe system which can
assist wheelchair users in safe, independent
travel by detecting obstacles and automatically
stopping the wheelchair if a collision appears
to be imminent. This robotic wheelchair
system is expected to be particularly useful for
wheelchair users with impairments affecting
vision, hand and arm control, or judgment.
Information about the project can be found at
http://www.at-
sciences.com/projects/swcs.html. Even more
important than the ability to detect obstacles
such as walls and furniture is the ability to
detect drops, such as descending staircases
or curbs. An intern is sought for a project to
evaluate drop-off detection options and design
and test a prototype drop-off detector. The
intern will evaluate the strengths and
limitations of various sensor options,
potentially including infrared range-finders
and mechanical sensors. The intern will then
design and fabricate a prototype drop-off
detection module for integration with the
robotic wheelchair system, and test this
prototype in real-world wheelchair travel
scenarios.
Activities in which students will engage Electronics design, mechanical design,
component testing, system testing, biweekly
meetings with research team.
Skills needed for project Electronics experience – preferred
• Mechanical aptitude for building prototypes
– preferred
• Programming skills, including exposure to
C/C++ – preferred
• Creative problem solving abilities –
required
• Critical thinking – required
• Self-motivation – required
Special requirement No
Skills acquired: The intern will have an opportunity to explore
and apply several different engineering and
Project 8
Faculty Advisor Ed Lopresti
Grad Student Vinod Sharma
Location AT Sciences
Title Iterative Design of a Wheelchair Convoy System
Abstract Despite continuing advances in wheelchair
technology, there remains a population of
consumers whose physical, cognitive and/or
perceptual impairments are so severe that they
preclude independent mobility. Many of these
individuals live in nursing homes or long-term
care facilities (LCFs), and are transported
between locations in manual wheelchairs
pushed by caregivers. We are developing a
system that will reduce the time that people
with disabilities spend waiting for someone to
move them between locations, and reduce staff
time and physical effort required for
transportation. The system will also provide a
mechanism for evacuating wheelchair users
from a facility in the event of an emergency.
The Convoy System will allow caregivers to
transport groups of wheelchair users between
locations (e.g., room to room or building to
building) without requiring caregivers to
remove wheelchair users from their
wheelchairs or load wheelchair users into a
cart, van or bus. The Convoy System will be
compatible with both powered wheelchairs and
manual wheelchairs with power-assist hubs,
and will allow caregivers to quickly form
wheelchair “convoys” by physically linking
system modules which are attached to each
wheelchair in the convoy. More information
about the project can be found at
http://www.jneuroengrehab.com/content/5/1/1.
The current Convoy System prototype consists
of a physical tether which connects a
wheelchair to a preceding wheelchair or to a
device held by the attendant. Each unit
measures the distance between itself and the
lead wheelchair or attendant based on how far
the tether is unspooled, and also measures the
angle of the tether (and therefore the angle
between its wheelchair and the “leader.”
Preliminary testing of the system has revealed
potential areas for redesign. Depending on
an intern’s expertise, potential areas for work
include (1) mechanical redesign of the
distance sensor to allow for a larger, easily
visible tether connecting wheelchairs; (2)
electronics development of a low-power
wireless network for communication between
“leader” and “follower” modules; (3) electronic
integration of the convoy system capabilities
with an electronics infrastructure used on
other robotic wheelchair applications; (4)
Controller design and testing.
Activities in which students will engage Mechanical design, electronics design,
embedded programming, system testing,
biweekly meetings with research team.
Skills needed for project Electronics experience OR mechanical
design expertise required (both preferred)
• Programming skills – required
• Exposure to C/C++ – preferred
• Creative problem solving abilities –
required
• Critical thinking – required
• Self-motivation – required
Special requirement No
Skills acquired: The intern will have an opportunity to explore
and apply several different engineering and
Project 9
Faculty Advisor Jon Pearlman
Grad Student
Location HERL
Title Low-Cost Power Wheelchair Design &
Development
Abstract We have an ongoing product design project to
develop a low-cost electric powered
wheelchair. This product was initially targeted
for individuals in less-industrialized
countries, but the US and European markets
are also viable. Based on feedback
from users in the US and India, we have
several design modifications that must be
implemented, and the device must be tested
according to industry standards.
Activities in which students will engage During the internship, the student will
complete the following tasks: mechanical
design
of components needing modification, solid
modeling of the design changes (in
Solidworks),
fabrication of the components in our in-house
prototyping shop, and international
standards testing of the final product.
Skills needed for project Experience in mechanical design
(freshman/sophomore design classes are
sufficient),
structural analysis, and hands-on experience
using workshop tools such as a welder,
drill-press, lathe and milling machine.
Motivation to innovate technology for people
with
disabilities.
Special requirement No
Skills acquired: You will gain practical experience in the
product design process, prototype fabrication
Project 10
Faculty Advisor Jon Pearlman
Grad Student
Location HERL
Title Anti-Crown Caster Design & Development
Abstract Wheelchairs have a tendency to veer down-hill
when on a cross-sloped surface due to
location of the center of gravity, and the front
wheel caster system. This tendency makes
wheelchair propulsion difficult over these
surfaces, and can cause loss of control or
even
an accident. We have developed a bench-top
prototype of a caster system which
eliminates this cross-slope tendency. The
goal of this project is to adapt the bench-top
design into one suitable for wheelchair users;
After completing
the design, the prototype will be fabricated and
tested in a variety of real-world situations.
Activities in which students will engage During the internship, the student will lead the
product design and testing process.
First, the student will come up with three
design concepts which will be reviewed by
designers, clinicians, and engineers in our
laboratory. A prototype will then be fabricated
and tested on several manual wheelchairs in
real-world maneuvering conditions.
Finally, the design will be strength and
durability tested.
Skills needed for project The student should have basic knowledge on
mechanical design principles, and motivation
to learn how to perform comprehensive
product design. Also, at least basic
experience
with metal fabrication (such as welding, using
the mill, lathe etc.) are necessary. Finally,
experience with solid modeling software (Ex.
Solidworks) will be necessary to document
the design.
Special requirement No
Skills acquired: During this project, you will gain practical
experience in product design, fabrication and
Project 11
Faculty Advisor Michael Boninger
Grad Student Laura McClure
Location HERL
Title Web Site Development for Clinicians for
Implementation of Guidelines for Prevention of
Upper Limb Pain in Spinal Cord Injury
Abstract The project would involve the development of a
web site intended for use by physical and
occupational therapists in a clinical setting.
The web site will be used for the on-line
education of clinicians to implement
guidelines to prevent upper limb pain in Spinal
Cord Injury patients. The web site would
include the use of advance techniques such as
development of message boards, on-line
tutorials and quizzes and other interactive
techniques. The student would work with the
clinicians using the web site to assist with
technical support and perform an analysis of
the use and benefits of the web site.
Activities in which students will engage Data collection, administer questionnaires, bi-
weekly meetings with research team, design
and development of an interactive website to be
used in a clinical setting.
Skills needed for project Able to use front page/other programs to
develop an interactive website.
Special requirement No
Skills acquired: The student will gain experience in the
development of web sites in a clinical setting