1. System Level Design Review P10029: Control Enhancements for Air Muscle Biomimetic Hand Customer: Dr. Lamkin-Kennard Faculty Guide: Ed Hanzlik Team Members: Zach Wessner, Jaci Tylkowski, Alex Bean, Mark Wood, Tuan Tran, Kevin Mudrak October 16, 2009

2. Critical Dates System Level Design Review – 10/16/09 Detailed Design Review – 11/06/09 (3 weeks ) – Virtual Concept Selected – Physical Prototype benchmarked – Controls (Physical & Virtual) designed Project Management Review – 11/20/09 (5 weeks) – Controllable virtual system – Controllable physical system – Calibration Plan / DAT Plan

3. Virtual Architecture SoftMotion Functions Trajectory Generator Communication Interface (Scan Engine) Motion Simulation NI LabView 2009 w/ SoftMotionSolidWorks 2009 Premium User Input: [LabView Front Panel] Coordinate Move Single Axis Move User Input: [SolidWorks Assembly] Motion Analysis System Output: [SolidWorks Assembly] Visual Motion of Assembly System Output: [LabView Front Panel] Displacement Feedback

4. Virtual Proof of Concept Goal: 1.LabView 2009 SoftMotion: meets objectives? 2.Educate team for full-scale model 3.System architecture Plan  Simplified SolidWorks model  Research & tutorials for LabView  Develop LabView control (single axis) o Functional Evaluation Joint design, movement, controls scheme, feedback Iterative (adding complexity)

5. Virtual Proof of Concept SolidWorks Model 1 DOF Simulated Joint

6. Virtual

7. Virtual Proof of Concept Issues / Risks: Scan Engine Period [5ms or 10 ms] / Deployment Virtual Controls Scheme differs from Physical Virtual Error = 0?