1. Tele-Operated Robotic Hand with Sensor Glove Mouhyemen A. KhanArian Yusuf Ahmed RagheebNouran Mohamed Mentor: Dr. Beena Ahmed Mouhyemen A. KhanArian Yusuf Ahmed RagheebNouran Mohamed Mentor: Dr. Beena Ahmed

2. Overview Project Background Project Progress

3. Project Background

4. Historical Review Sayre Glove Developed by Thomas de Fanti & Daniel Sandin Fiber Optic Glove Developed by Visual Programming Language Inc. Power Glove Developed by Mattel Intellivision Cyber Glove Developed by James Kramer 1977 1987 1992 1989 1997 Human Glove Developed at Humanware Srl 2000 - Present 5DT Data Glove by Fifth Dimension Technologies Pinch Glove by Mapes 1983 Digital Entry Data Glove Developed by Gray Grimes

5. Limitations & Challenges Cloth Support Poor Durability Need of Calibration High Cost

6. Problem Statement Current products are expensive

7. Our Aim Versatile Cheap Long Range Good functionality

8. Semester Tasks

9. Concept Generation

10. Concepts Weights BCD Score Weighted Score Weighted Score Score Weighted Score Configurability 5%50.2530.1510.05 Cost 10%30.33 50.5 Performance Speed 10%50.55 5 Security 15%30.4520.330.45 Mass + Volume 15%50.7530.4550.75 Safety 10%20.230.33 Range 20%5110.21 Reliability 5%30.153 3 Comfort 5%30.1540.24 Maintenance 5%30.1540.210.05 Total 100%373.9312.75283.15 Rank132 ContinueYesNo Concept Scoring

11. Semester Tasks

12. Customer Needs

13. Customer Needs (Continued)

14. Semester Tasks

15. 1. Vhand Glove 3.0 2. CyberGlove 3. AcceleGlove 4. P5 Glove 5. 5DT Glove

16. Competitor Products DG5-VHand Glove 3.0 CyberGlove II5DT Data GloveP5 GloveAcceleGlove Sensor Glove(OURS) Number of Sensors 8187765 + 5 Sensor Data Rate CustomizableFixed Customizable Operating Temperature 0 -50˚C10 - 45˚CS.T.P Devices supported in each environment >26 (maximum)1111 Operating system Windows Windows 32 bit DLL Windows OnlyAllWindows Wireless Technology WiFi BluetoothWiredBluetoothZigbee Battery Duration 6 hours3 hours8 hoursNot Needed6-12 hoursD.K. Battery Charger InternalExternalInternalNilExternal Operating Range < 10 m15 m20 m1.22 mN.S90 -100 m Interface Micro USBUSBUSB/BluetoothUSB Weight Unknown 127 grams111 grams< 125 grams Price $585$ 12,295$1495$49.99$500< $250 Haptic Feedback No Yes Software C ++ Own LanguageC Benchmarking

17. Semester Tasks

18. Functional Modeling of Concept

20. Overview Project Progress Project Background

21. Project Progress

22. Single Sensor-glove Finger COMPONENTS ARDUINO BOARD (1 only) XBEE BOARD FLEX SENSOR VIBRATION MOTOR

23. Flex Sensors Circuitry

24. Single Robotic-hand Finger COMPONENTS ARDUINO BOARD (1 only) XBEE BOARD PRESSURE SENSOR SERVO MOTOR

25. Robotic Hand Circuitry

26. Wireless Communication Circuitry

27. Project Progress

28. PCB Design – in progress PWM VCC GND

29. PCB Design – Final Arduino Nano Xbee Module Servo Ports Sensor Ports

30. Project Progress

31. Sensor Glove Designs Flex Sensors Control Unit Vibration Motors

32. Sensor Glove Picture

33. Robotic Hand Designs Control Unit Pressure Sensors

34. Project Progress

35. Robotic Hand Testing

37. Project Progress

38. Timeline January Testing and Calibration PCB Design Robotic Hand testing February Complete Coding and Testing for Robotic Hand Wireless Communication Work on assembly of the Sensor Glove Test Single Finger Flex Sensor Using Telecommunication with Robotic Hand March Finish the Data Glove Construction Wireless Communication Robotic Hand Pinky Adjustment Progress Report Presentation April Finish Testing Final Report Final Presentation Poster Design Demonstration

39. CONCLUSION What have we done? Where are we now? What is next?

40. References Bill Moede. (2012, August 18). Destination Innovation-Episode 3: Human Exploration Telerobotics [Video file]. Retrieved from http://www.youtube.com/watch?v=qL8powplgcI http://www.youtube.com/watch?v=qL8powplgcI CarnegieMellonQatar. (2011, March 20). Carnegie Mellon Qatar Building Tour [Video file]. Retrieved from http://www.youtube.com/watch?v=84QMXfcrO9Qhttp://www.youtube.com/watch?v=84QMXfcrO9Q Eye-Spy Aw, Snap!. (2013, June 18). Robotic ‘Wearable ExoSkeleton Hand’ [Video file]. Retrieved from http://www.youtube.com/watch?v=Lgb1x7P3Anwhttp://www.youtube.com/watch?v=Lgb1x7P3Anw Jumpei Arata [ 純平 荒田 ]. (2012, August 1). Tele-surgery robot [Video file]. Retrieved from http://www.youtube.com/watch?v=mICsAkOeep4 純平 荒田http://www.youtube.com/watch?v=mICsAkOeep4 Texas A&M University at Qatar. (2013, January 6). 10 Years of Engineering a World of Difference [Video file]. Retrieved from http://www.youtube.com/watch?v=xYBR6yRZ4ok http://www.youtube.com/watch?v=xYBR6yRZ4ok Warner Bros. Pictures. (2013, September 24). Gravity – Official Main Trailer [2K HD] [Video file]. Retrieved from http://www.youtube.com/watch?v=OiTiKOy59o4http://www.youtube.com/watch?v=OiTiKOy59o4

41. References (continued) 5DT Data Glove 5 Ultra. (2011, 11 25). Retrieved from 5DT: http://www.5dt.com/products/pdataglove5u.html DG5 VHand 3.0. (n.d.) Retrieved from vrealities: http://www.vrealities.com/products/data-gloves/dg5-vhand-glove-3-0 acceleglove user guide manual. (n.d.). Retrieved from acceleglove: http://www.acceleglove.com/AcceleGloveUserGuide.pdf CyberGlove Systems. (n.d.). Retrieved from CyberGlove Systems: http://www.cyberglovesystems.com/sites/default/files/CyberGloveII_Brochure_2009.pdf INITION. (n.d.). Retrieved from Essential Reality P5 Glove from Inition: http://inition.co.uk/3D-Technologies/essential-reality-p5-glove Glove sensors. (n.d.). Retrieved from Cloud Front: http://d1fohg17mj6x9u.cloudfront.net/Awards/categories/connected-body/glove-sensors.jpg Robot Shop. (n.d.). Retrieved from robot shop: http://www.robotshop.com/media/files/images/mechate-robot-hand-6-large.jpg wave. (n.d.). Retrieved from Bini Photo: http://www.weebly.com/uploads/6/5/3/2/6532278/www.biniphoto.com__wave_-1.png

42. Acknowledgments We would like to take this opportunity to thank Dr. Beena Ahmed, for her invaluable contribution, in the development of our project; Dr. Ziyad Shafik and Mr. Wesam Mansour, for his constant help throughout the project; Dr. Haitham Abu Rub, for his cooperation and input

43. Questions?

44. Budget Sensor Glove ItemQuantityTotal Price Arduino Nano10$69.70 6-DOF Accelerometer & Gyroscopic Sensor10$59.99 Buck-Boost Converter10$40.50 Flex Sensor 4.5”10$116.50 Force Sensor – Small10$53.60 Force Sensor – 0.5” area10$62.60 Force Sensor – Square10$71.60 Pressure Sensor – 1” area10$224.60 Vibration Motors15$66.90 Analog Feedback Micro Servo10$136.00 FTDI Basic Breakout - 5V6$87.00 FTDI Cable 5V2$35.9 Wireless Communication XBee Explorer USB5$124.75 XBee 2mW U.FL Connection10$233.60 Robotic Hand MechaTE Robotic Hand (right-hand)1$900.00 Total Budget $2283.24

45. Production Costs Sensor Glove ItemQuantityTotal Price Arduino Nano 1$6.97 6-DOF Accelerometer & Gyroscopic Sensor 1$6.00 Flex Sensor 4.5” 5$58.25 Vibration Motors 5$22.30 Analog Feedback Micro Servo 5$68.00 FTDI Basic Breakout - 5V 1$14.50 FTDI Cable 5V 1$17.95 Wireless Communication XBee Explorer USB 2$49.90 XBee 2mW U.FL Connection 2$46.72 Total Budget 1$290.59

46. Detailed Timeline