1. By Casey Dill, Andrew Torkelson and Arthur Connors

2. Customer Needs Customer Need #ImportanceDescriptionComments/Status CN11Wrist joint resembles human movement (two degrees of motion) CN21Forearm resembles human motion (one degree of freedom) CN31Elbow resembles human movement (one degree of motion) CN42Designs are open and adaptable to future projects CN51Controls are more intuitive CN62Forearm is compatible with previous projects (i.e. the hand) CN73Arm function is anatomically correct CN81Full analysis of loadings and motion Importance: Sample scale (1=must have, 2=nice to have, 3=preference only)

3. Engineering Specifications Engr. Spec. #ImportanceSource Specification (description)Unit of MeasureMarginal ValueIdeal ValueComments/Status ES12CN6Arm is capable of incorporating the handN/A TRUEEither hand will fit or not ES23CN5Human interface can be understood quicklyMinutes205 Measuring learning curve for operation ES31CN1Wrist motion replicating human motion degrees of freedom22 ES41CN2Forearm motion resembles human motion degrees of freedom11 ES51CN3Elbow motion resembles human motion degrees of freedom11 ES61CN7, CN8 Provides enough power to counteract forces (e.g. lifting or grasping)lbf2060 Source: Customer need #, regulatory standard (eg. EN 60601), and/or "implied" (must exist but doesn't have an associated customer need) Description: quantitative, measureable, testable details

4. Benchmarking Metric Number Need NumbersMetricImportanceUnits Shadow Robot Company Merlin Robotics 01 Maximum Pull (6mm diameter, 150mm length)1kg7N/A 02 Maximum Pull (20mm diameter, 210mm length)1kg20N/A 03 Maximum Pull (30mm diameter, 290mm length)1kg7010

5. 1 Page Summary