My current work at Robility, Inc. as a Mechatronics Engineering Contractor is developing the WalkSense, a smart robotic rollator style mobility walker. The WalkSense features sit/stand assistance, and motorized walker motion controlled through a force-admittance controller integrated into the user arm supports. Parts were designed in SOLIDWORKS, and 3D printed

This was my Master's Research project at SJSU. The project was developing and integration a user fall detection and wheelbase countermotion response plan of a robotic rollator walker. The fall detection was done by analyzing user force/torque input onto the user handle and comparing to empirically derived fall threshold values. The walker normally uses the force/torque input as user intent detection for controlling the motorized wheels. The fall detection system would override the force/torque input to the wheel control, and enact a response motion plan to move the walker heading into the same direction as the user applied force vector in the XY plane, and enact a slight reversing motion to push the user upright and keep the walker in an ideal position of postural support.

This is a collection of models and assemblies I made in SOLIDWORKS in completion of SJSU Master's level course in CAD