P08024 AIR MUSCLE ARTIFICIAL LIMB Felicia Haverty Win Maung Aaron Moore Naresh Potopsingh Clement Strauss Xuan Tran Andrew White David Zhang

Team Organization Customer Dr. Lamkin-Kennard Muscle Team Lead By: Aaron Moore ME Andrew White Design Team Naresh Potopsingh Dave Zhang Win Maung Felicia Haverty Controls Team Clement Strauss EE Xuan Tran CE

Outline Air Muscle Team (20 mins) Controls Team (30 mins) Aaron Moore & Andrew White Controls Team (30 mins) Xuan Tran & Clement Strauss Design Team (45 mins) Felicia Haverty & Naresh Potopsingh Win Maung & David Zhang

Functional Diagram

Lead: Aaron Moore, ME Support: Andrew White, ME Air Muscle Team

Air Muscle Components Inlet Connector - End Plug - Rubber Tubing - Outer Meshing - Double Pinch Clamps -

Component Improvements Inlet Connector: End Plug: Clamps: 1/8” tube to 1/4” stem 1/4” tube to 5/32” stem 1/4” tube to 1/4” stem 1/4” tube to 3/16” stem No slip step. Eye loop for wire attachment. Used in testing, change to permanent crimp clamps for final muscles

Tested 3”, 5”, and 7” initial length tubes Testing Rubber tubing with: Muscle A: 1/4” ID to 1/2” OD Muscle B: 3/16” ID to 3/8” OD Muscle C: 1/4” ID to 3/8” OD Tested 3”, 5”, and 7” initial length tubes Initial Length

Test Results: Contraction Muscle A: 1/4” ID to 1/2” OD Muscle B: 3/16” ID to 3/8” OD Muscle C: 1/4” ID to 3/8” OD Test Results: Contraction

Test Results: Deflection Under Loading Muscle A: 1/4” ID to 1/2” OD Muscle B: 3/16” ID to 3/8” OD Muscle C: 1/4” ID to 3/8” OD Test Results: Deflection Under Loading

Test Results: Deflection Under Loading Muscle A: 1/4” ID to 1/2” OD Muscle B: 3/16” ID to 3/8” OD Muscle C: 1/4” ID to 3/8” OD Test Results: Deflection Under Loading

Test Results: Deflection Under Loading Muscle A: 1/4” ID to 1/2” OD Muscle B: 3/16” ID to 3/8” OD Muscle C: 1/4” ID to 3/8” OD Test Results: Deflection Under Loading

Bill of Materials Expect to need ~ 8 air muscles for hand (Assuming most expensive components) Expect to need ~ 8 air muscles for hand Max air muscle length = 7” 8 muscles x 7” = 56” tubing @ $1.45 /ft = 56” meshing @ $0.75 /ft = 8 end plugs @ $0.95 ea = 8 inlet connectors @ $5.00 ea = 16 crimp clamps @ $0.30 ea Total cost for all air muscles < $65

Lead: Clement Strauss, EE Support: Xuan Tran, CE Controls Team

Available Software

LabVIEW Programmers’ perspective Users’ perspective Easy to learn and use GUI based, instead of code based Numerous hardware available Not to worry about low level programming concepts Flexible for future modifications, adapt to customer’s needs Users’ perspective Aesthetic User friendly (self explanatory)

Software Perspective

Pneumatic system

Digital I/0 Device for USB Cost: $99

Digital/Analog I/0 Device for USB Cost: $159

Valves

Hand Design Team Lead: Naresh Potopsingh, ME Support: Win Maung, ME David Zhang, ME Felicia Haverty, ME Hand Design Team

Background A robotic hand and forearm with working air muscle had been built Current model was used in medical industry for medical training applications

Objective / Scope Design and develop an anatomically accurate, robotic hand that incorporates air muscles as a force generating mechanism Accurately reproduce human wrist and finger motions with improved grip strength Intent is to redesign to be scalable for future applications

Problem Statement Medical field requires an arm with a broad range of motion and large grip strength Current model is limited in functionality regarding wrist motion and grasping capabilities

Completed Specification Document Number Customer Need Design Specification Importance Ideal Value Unit of Measure 1 Safe to use 9 N/A 2 Can be scaled down in 3 Must be able to hold a sphere 4 Easy to use 5 Easy to store 6 Aesthetically pleasing 7 Lasts a long time 1,000 hours 8 Lightweight 10 lb Can be used continuously cycles Maximizes grip strength without crushing 10+ lbf 11 Cost effective < 2,500 $

Concept Combination

Concept Pre-selection

Concept Selection

CAD Model

Model Simulation

Strategy & Approach Assumptions & Constraints: Issues & Risk: Robotic hand will not be as complex or as fully functional as a human hand Issues & Risk: Optimized control system Exceeding budget Composite joint reliability Develop apparatus for 48-hour continuous cycle testing

Expected Project Benefits A working full size robotic hand with the goal of scaling it in the future Exploration in the use of “non-traditional” materials Composites Monofilament wires Data for air muscle performance of various designs

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