1. EE/CS 481 Spring 2008 1February, 2008 University of Portland School of Engineering Project Black Cap Robotic Prosthetic Arm Team Josh Triska Corban Monger Ashlee Snodgrass Advisors Dr. Wayne Lu Dr. Peter Chamberlain Industry Representative Mr. Mike Kosloski

2. EE/CS 481 Spring 2008 2February, 2008 University of Portland School of Engineering Overview Introduction Scorecard Additional Accomplishments Plans Issues/Concerns Conclusions

3. EE/CS 481 Spring 2008 3February, 2008 University of Portland School of Engineering Introduction Our Robotic Arm: Approximates human hand/arm degrees of freedom Proof-of-concept for prosthetic application as well as test-bed for a mobile robotics Other projects are planned to make another arm, shoulders, etc. Fully humanoid robot, anyone?

4. EE/CS 481 Spring 2008 4February, 2008 University of Portland School of Engineering Scorecard Previous month’s plans: –Begin construction of forearm Obtain the remaining materials to construct the hand up to the elbow Obtain our two motors Construct motor, servo, and host control boards once parts arrive Write pseudo-code for controllers –Finish TOPs doc What we did: –Obtained aluminum materials, mechanical joints, most components –Completed construction of 3 fingers; last two are nearly done –Theory of Operations document completed and approved –Servo and host controller programs designed

5. EE/CS 481 Spring 2008 5February, 2008 University of Portland School of Engineering Additional Accomplishments We have been notified that the Printed Circuit boards are completed and have been shipped; they should arrive this week Prepared a demo with a few digital servos and the current working fingers for the engineering week expo Congressman David Wu liked our design!

6. EE/CS 481 Spring 2008 6February, 2008 University of Portland School of Engineering Plans Complete construction of forearm and elbow –Machine the aluminum –Order large motors –Attach the servos, mounts, and motors to the forearm –Construct motor, servo, and host control boards once parts and boards arrive Complete embedded programming Should have working model by the end of the month

7. EE/CS 481 Spring 2008 7February, 2008 University of Portland School of Engineering Milestones NumberDescriptionOriginal 10/30/07 Previous 2/4/08 Present 2/26/08 1Functional Spec Approval2007.10.05 2Product Approval2007.10.052007.10.08 3Plan Approval2007.11.092007.12.07 4Wrist Joint Design Completed2007.11.26 5Design Release2007.12.072008.02.15 6Forearm Cavity Design Completed2008.01.21 7Elbow Joint Design Completed2008.02.11 2008.02.29 8TOP’s Approval2008.02.222008.02.15 9Circuit Boards Manufactured2008.02.26 10Wrist Joint Manufactured2008.02.28 11Forearm Cavity Manufactured2008.03.18 12Control Software Completed2008.03.21 13Founder’s Day2008.04.08 14Final Report2008.04.25

8. EE/CS 481 Spring 2008 8February, 2008 University of Portland School of Engineering Concerns/Issues Concerns/issues: –Flexing of aluminum members Possible solutions: –Material needs to be tested for deformation –Laminating multiple members to increase rigidity

9. EE/CS 481 Spring 2008 9February, 2008 University of Portland School of Engineering Conclusions The hand is nearly completed We have all materials and nearly all components and parts The hand says hello!!!

10. EE/CS 481 Spring 2008 10February, 2008 University of Portland School of Engineering

11. EE/CS 481 Spring 2008 11February, 2008 University of Portland School of Engineering

12. EE/CS 481 Spring 2008 12February, 2008 University of Portland School of Engineering