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

2. 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)

3. The Current Hand Design

4. 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

5. 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

6. 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

7. 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

8. 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

9. 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

10. 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

11. 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

12. 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

13. Questions Comments Concerns?