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 Bausch & Lomb, Inc.

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 robotic arm To create a cost effective tendon driven robotic arm that will be easily affordable and applicable in future applications.

4. EE/CS 481 Spring 2008 4February, 2008 University of Portland School of Engineering Scorecard Previous month’s plans: –Complete schematics for motor/servo control –Design program flow for microcontrollers –Design bone geometry –Define communications protocol –Design servo mounting frame What we did: –Motor, servo, and host controls schematics are complete –Program flow laid out with communication protocol –Bone geometry designed with forearm cavity for servo mounting

5. EE/CS 481 Spring 2008 5February, 2008 University of Portland School of Engineering Additional Accomplishments Tested Kevlar tendon strength: up to 60lb of force at least! Printed Circuit Boards (PCBs) have been designed and ordered Started Theory of Operations document; on schedule

6. EE/CS 481 Spring 2008 6February, 2008 University of Portland School of Engineering 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 controller Finish TOPs doc

7. EE/CS 481 Spring 2008 7February, 2008 University of Portland School of Engineering Milestones NumberDescriptionOriginal 10/30/07 Previous 12/7/07 Present 2/4/08 1Functional Spec Approval2007.10.05 2Product Approval2007.10.052007.10.08 3Plan Approval2007.11.092007.12.07 4Wrist Joint Design Completed2007.11.26 5Design Release2007.12.07 2008.02.15 6Forearm Cavity Design Completed2008.01.21 7Elbow Joint Design Completed2008.02.11 8TOP’s Approval2008.02.22 2008.02.15 9Circuit Boards Manufactured2008.02.26 10Wrist Joint Manufactured2008.02.28 11Forearm Cavity Manufactured2008.03.18 12Control Software Completed2008.03.21 13Wrist Joint Manufactured2008.03.25 14Founder’s Day2008.04.08 15Final Report2008.04.25

8. EE/CS 481 Spring 2008 8February, 2008 University of Portland School of Engineering Concerns/Issues Concerns/issues: –Finger curl motion; equal distribution of force Possible solutions: –Straight tendon pass –Criss-cross tendon trigger

9. EE/CS 481 Spring 2008 9February, 2008 University of Portland School of Engineering Conclusions A lot of work completed, but we still have much to do Write pseudo-code for controllers Once PCBs have arrived we can build the control boards and finish the programming While we wait for the PCBs we can construct the forearm

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