In nature, some animals have an exoskeleton that provides protection, strength, and stability to the organism, but in engineering, an exoskeleton refers to a device that augments or aids human ability. Since the 1890s, engineers have been designing exoskeletal devices, and conducting research into the possible uses of such devices. These bio-inspired mechanisms do not necessarily relate to a robotic device, though since the 1900s, robotic principles have been applied to the design of exoskeletons making their development a subfield in robotic research. There are different multiple types of exoskeletons that target different areas of the human body, and the targeted area depends on the need of the device. Usually, the devices are developed for medical or military usage; for this project, the focus is on medical development of an automated elbow joint to assist in rehabilitation. This project is being developed for therapeutic purposes in conjunction between Arizona State University and Mayo Clinic. Because of the nature of this project, I am responsible for the development of a lightweight brace that could be applied to the elbow joint that was designed by Dr. Kevin Hollander. In this project, my research centered on the use of the Wilmer orthosis brace design, and its possible application to the exoskeleton elbow being developed for Mayo Clinic. This brace is a lightweight solution that provides extra comfort to the user.

In this paper, we discuss the methods and requirements to simulate a soft bodied beam using traditional rigid body kinematics to produce motion inspired by eels. Eels produce a form of undulatory locomotion called anguilliform locomotion that propagates waves throughout the entire body. The system that we are analyzing is a flexible 3D printed beam being actively driven by a servo motor. Using the simulation, we also analyze different parameters for these spines to maximize the linear speed of the system.

During a joint ASU-Prescott College visit to the Maasai Mara in Kenya in June-July 2018, it became obvious that many Maasai women produce beadwork sold locally to help support their families. The difficulties they face include inconsistent sales due to lack of customers, lulls in tourism, and unfair competition. During this visit, the idea of selling the crafts online via Etsy was suggested. It received overwhelming support from the community through MERC, the The Maasai Education, Research and Conservation Institute.

With FDM printing becoming ubiquitous within the commercial and private sectors, there are many who would want to print a part without supports for a variety of reasons. Usually, they want to prints a part with difficult to reach places that would make it impossible to remove any support material without damaging the part. I will be going over options to consider when designing parts to ensure a given model will be able to be printed without support material.