Project Proposal: 3D Robotic Hand Continuation Southeastern Louisiana University ET 493 - Senior Design I Presented by: Jace Babin, Andrew Brouillette, Bach Nguyen, Bryce Schell, Alexander Stein Advisor: Dr. Cris Koutsougeras

Introduction With advances in technology, robotics have begun to become more capable and are able to go where humans can not or should not go. The concept of the finished project has many uses and would be a great way to demonstrate our knowledge of Engineering Technology. Examples of robotic application: EOD robots (Explosive Ordnance Disposal) Robotic Surgical Systems Robot Nurse or Helper UAVs (Unmanned Aerial Vehicle)

The Current Hand Design

Finger proportions are off Not enough articulation Only one wire Issues Not enough DoF Finger proportions are off Not enough articulation Only one wire Flat design Tip of finger Showing cable channel Solutions Redesign the fingers for better proportions Add additional cables to support movement Enable more degree of freedom Fingers and Joints

DC Motors to Curl Finger Issues The cables are stiff They are easily bended Develop memory bends over time Flexible cable that allows for push and pull force transmission Solutions Find a new cable Add a valve on the actuators Reduce the bending while the cable moves DC Motors to Curl Finger

Flat and unrealistic hand Single wire for each finger Issues Flat and unrealistic hand Single wire for each finger Solutions Redesign hand to resemble a human hand Smaller Add wire room and pathways Bowden Cable Design Wire Channels

DC Motors for Open and Close & Servos for Articulate Controls Issues Easily stripped by the DC motors Takes up too much space Solutions Secure connection between screws Secure connection between the DC motors Compact the design DC Motors for Open and Close & Servos for Articulate Controls

Sensor are not accurate enough Needs to be rewired Issues Sensor are not accurate enough Needs to be rewired Bend sensors are not secure Only supports open and close Solutions Add support for articulation Secure the connection Find a way to fasten the bend sensors to the glove Add a sensor to calculate the articulation of the finger Control Glove

The Current Control of the Hand Issues Too many motor drivers Power consumption issues Raspberry Pi 1 does not have wireless functionality Old code Solutions Clean up wires in the circuit A microcontroller with wireless functionality Add a more efficient motor drive modular Write new code for added motions The Current Control of the Hand

Deliverable Finish a redesign of the hand Design new parts Assemble SolidWorks parts Assemble wiring throughout hand Programing finger movement Redesign the DC motor screw Add controls for each wire attached to a finger Controls for each wire attached to the thumb Control glove Design new glove Assemble glove Program glove readings Connection to fingers

Jace Babin will be working on the communication between the robotic hand and the glove and writing the fingers articulation code. Andrew Brouillette will be working with the motors to control the movement of the hand and help program the Raspberry Pi to control the hand with the glove. Bach Nguyen will be in charge of the timeline for each member tributing to the project and of creating a new glove for the user to control the robotic arm. Bryce Schell will be working in SolidWorks to create more efficient parts needed to replace the old set of fingers and hand. Alexander Stein will be assembling the hand and fingers and help code the new controls for the fingers. Responsibilities

Oct 5th - 19th: Research and design the fingers for more articulation Design fingers in SolidWorks Assemble fingers/wiring Research new glove sensors/communication Research replacement for DC screws for fingers Oct 20th - Nov 4th: Assemble glove sensors Start coding glove sensors Implement/test improved microcontroller for the hand Assemble replacement for DC screws for fingers Nov 5th - Nov 19th: Connect finger wires to DC replacement Program the all finger movement functions Create working glove Nov 20th - Dec 4th: Connect fingers to glove Finalize the code the glove sensors to fingers Prepare/critique end of semester final presentation Timeline

Questions Comments Concerns?