sdiiprojectreviewrev-.doc1 jonathan kasperproject manger (me) jenna fikelead engineer (ee) matt...

SDIIProjectReviewRev-.doc 1

Jonathan Kasper Project Manger (ME)

Jenna Fike Lead Engineer (EE) Matt Lewis Design Lead (ME) Josa Hanzlik Mechanical Engineer Ellen Cretekos Mechanical Engineer Nick Rappa Mechanical Engineer Eric Giang Electrical Engineer Mark McKann Mechanical Engineer

P08023: Air Muscle Artificial Limb

Sponsor: Dr. Kathleen Lamkin-Kennard

P08023: Project DescriptionProject Statement:

“Develop a Scalable Robotic Limb that Accurately Models All Degrees of Freedom of Human Fingers.”

Market: RIT Biomechanical ProgramShowcase for New Technology

Key High Level Needs / Engineering SpecsRealistic Finger Motions 4 DOF in Fingers

# Tendons, # MusclesReliability Finger Displacement, +/- 3% Low Cost Air Muscle = $3 approx.Control Repeatability Supplied Air Pressure 60 psi.Reliability & Serviceability Air Muscle Life Span

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Design/Build Concept Summary

Hand MaterialFastenersTendon CableTendon HardwareReturn Ligament CablePneumatic Fittings

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Air Muscle Concept Summary

Mesh MaterialTube MaterialAir Side ConnectorPlug

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Controls Concept Summary

Control SoftwareData Acquisition SystemRelay BoardValvesFeedback Sensor

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LabVIEW

DAQ

Pressure Valves

Air Muscles

Artificial Hand

P08023: Final Design

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Design/Build Summary

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Push-to-Connect Fitting

Berkley SteelonWire

Aluminum Elastic Shock Cable

Berkley CableHardware

Cotter Pins

Standard Rubber Band

Air Muscle Summary

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Push-to-Connect Fitting

Eye Hook

PET Mesh

1/8” ID Rubber Tube

Controls Summary

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DAQ Relay Board Solenoid Valves

Linear Potentiometer

Air Muscle Testing Results

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Displacement (Length)

0

0.2

0.4

0.6

0.8

1

1.2

1.4

2 2.5 3 3.5 4 4.5 5 5.5Length (in)

Dis

pla

ce

me

nt

(in

)

20 PSI

40 PSI

60 PSI

Preload Test (60psi)

0.85

0.95

1.05

1.15

1.25

1.35

1.45

Initial Week1 Week2 Week5

Elapsed Time (weeks)

Ch

an

ge

in L

en

gth

(in

)

P1

P2

P3

•Abduction/Adduction 2.5in

•Flexion 7in

•Preload variability is less then manufacturing variability

•Applied preload will not effect air muscle output

Oh No You D’nt

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WOW

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Incremental Motion

System TestingEach finger was tested to verify flexion and

ab/adduction motions:Individual FlexionCycling Flexion (x 20)Individual AbductionCycling Abduction (x 20)Individual AdductionCycling Adduction (x 20)Consecutive Motion FlexionConsecutive Motion AbductionConsecutive Motion AdductionIncremental Flexion Motion

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Test Results

No finger breakage was observedNo strain on finger/ligament/muscleSmooth incremental movementNo abnormal delays between interface and

actuationFingers do not contact palmFingers collide, does not affect motion

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Project Evaluation

Successes:Fluid motion of

finger extensionIncremental

flexion motion achievable within 7%

Ease of serviceability

Shortcomings:Simultaneous

manipulation of fingers not possible

Collisions between fingers

Fingers do not contact palm

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Future Work

Addition of Pinky and ThumbFinger Design ImprovementManipulation of Multiple Fingers

SimultaneouslyIntegrated Grasping CapabilityTactile FeedbackReduced Air Muscle VariabilityExtended Air Muscle Life

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Special ThanksDr. Kathleen Lamkin-

KennardMr. John WellinMr. Scott KennardDr. Steven DayDr. Matthew MarshallMr. William ScarbroughRIT New Faculty

Development Grant

Mr. Edward HanzlikMr. David HathawayDr. Mark KempskiMr. Robert KraynikMr. Steven KosciolMr. Jonathan Niebielski.