WheelArm-Sim
Although recent advancements in assistive robotics have focused on Wheelchair-Mounted Robot Manipulators (WMRMs), integrated and intuitive control of both the wheelchair and robot arm remains significantly underexplored. Therefore, we introduce WheelArm, a cyber-physical system (CPS) that integrates wheelchair and robotic arm control. This work presents WheelArm-Sim, a simulation framework developed in Isaac Sim for synthetic data collection, which includes an indoor simulation environment and a ROS2-based data collection workflow. A small multimodal dataset has been collected and will be published in the future. In this video, we demonstrate the data collection process using WheelArm-Sim.
The project develops a force-instrumented self-pacing treadmill Graphical User Interface (GUI) in Matlab to match individuals’ walking or running pace. It simplifies access to force-plate data and assists researchers in conducting cost-effective and efficient studies in the fields of human gait and rehabilitation. During this project, a GUI is built to facilitate communication with the treadmill, implemented a self-pacing algorithm to control its speed, and designed a kinetic model to estimate the lateral Center of Mass (COM) movement in walkding. By comparing with practical data derived from Motion Capture Systems in pilot experiments, the model provided highly accurate estimations.