EE/CS 481 Spring February, 2008 University of Portland School of Engineering Project Black Cap Robotic Prosthetic Arm Team Josh Triska Corban Monger Ashlee Snodgrass Advisors Dr. Wayne Lu Dr. Peter Chamberlain Industry Representative Mr. Mike Kosloski Bausch & Lomb, Inc.

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Overview Introduction Scorecard Additional Accomplishments Plans Issues/Concerns Conclusions

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Introduction Our Robotic Arm: Approximates human hand/arm degrees of freedom Proof-of-concept for prosthetic application as well as test-bed for a mobile robotic arm To create a cost effective tendon driven robotic arm that will be easily affordable and applicable in future applications.

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Scorecard Previous month’s plans: –Complete schematics for motor/servo control –Design program flow for microcontrollers –Design bone geometry –Define communications protocol –Design servo mounting frame What we did: –Motor, servo, and host controls schematics are complete –Program flow laid out with communication protocol –Bone geometry designed with forearm cavity for servo mounting

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Additional Accomplishments Tested Kevlar tendon strength: up to 60lb of force at least! Printed Circuit Boards (PCBs) have been designed and ordered Started Theory of Operations document; on schedule

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Plans Begin construction of forearm –Obtain the remaining materials to construct the hand up to the elbow –Obtain our two motors –Construct motor, servo, and host control boards once parts arrive –Write pseudo-code for controller Finish TOPs doc

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Milestones NumberDescriptionOriginal 10/30/07 Previous 12/7/07 Present 2/4/08 1Functional Spec Approval Product Approval Plan Approval Wrist Joint Design Completed Design Release Forearm Cavity Design Completed Elbow Joint Design Completed TOP’s Approval Circuit Boards Manufactured Wrist Joint Manufactured Forearm Cavity Manufactured Control Software Completed Wrist Joint Manufactured Founder’s Day Final Report

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Concerns/Issues Concerns/issues: –Finger curl motion; equal distribution of force Possible solutions: –Straight tendon pass –Criss-cross tendon trigger

EE/CS 481 Spring February, 2008 University of Portland School of Engineering Conclusions A lot of work completed, but we still have much to do Write pseudo-code for controllers Once PCBs have arrived we can build the control boards and finish the programming While we wait for the PCBs we can construct the forearm

EE/CS 481 Spring February, 2008 University of Portland School of Engineering

EE/CS 481 Spring February, 2008 University of Portland School of Engineering

EE/CS 481 Spring February, 2008 University of Portland School of Engineering