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

2. 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

3. 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

4. Functional Diagram

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

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

7. 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

8. 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

9. 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

10. 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

11. 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

12. 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

13. 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” $1.45 /ft
= 56” $0.75 /ft
= 8 end $0.95 ea
= 8 inlet $5.00 ea
= 16 crimp $0.30 ea
Total cost for all air muscles < $65

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

15. Available Software

16. 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)

17. Software Perspective

18. Pneumatic system

19. Digital I/0 Device for USB
Cost: $99

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

21. Valves

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

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

24. 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

25. 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

26. 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 $

27. Concept Combination

28. Concept Pre-selection

29. Concept Selection

30. CAD Model

31. Model Simulation

32. 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

33. 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

34. FÍN