Transcript Project Poster

Project #: P08023
Jonathan Kasper / Project Manager
Matthew Lewis / Design Lead
Mark McKann / Controls Team
Jenna Fike / Lead Engineer
Josa Hanzlik / Air Muscle Team
Nick Rappa / Controls Team
Dr. Kathleen Lamkin-Kennard / Advisor
Ellen Cretekos / Air Muscle Team
Eric Giang / Controls Team
The primary goal of the Air Muscle Artificial Limb project is to design, build,
and control a robotic hand with realistic finger motions; all gesticulations are
made possible via forces produced by pneumatic muscles. Dr. Kathleen
Lamkin-Kennard, of the Bio-Mechanical Engineering Dept. at RIT, facilitated
the project with specific product requirements and team guidance. In order
to achieve the project objective, a team of engineers was divided into
Design/Build, Controls, and Air Muscles sub-teams. During the initial stage
of the project, three fingers were prototyped, control algorithms were created,
and air muscles were characterized in order to produce a consistently and
accurately controlled hand. The final product is an aluminum hand with
index, middle, and ring phalanges that are capable of achieving four degrees
of freedom (DOF): flexion, extension, abduction, and adduction.
Design/Build Team : responsible for configuring and producing a
robotic hand that was capable of the requisite hand motions; this
included the production of:
o CAD drawings
o Prototypes
o Final functioning hand
Potentiometer
DAQ
Finger CAD Design
Artificial Limb CAD Design
Feedback
Controls Team : in charge of implementing control mechanisms
LabVIEW
and algorithms for management of the solenoid valves that were
used to manipulate air flow
Relay Board
Portable Air
Compressor
Valves
Air Muscles
Read configuration file to
determine relative
potentiometer range
System Architecture
Air Muscle Team : focused on the development and
= Ab/Adduction Instruction
= n% Flexion Instruction
= Too Flexed
implementation of air muscles for the project:
o Determined the method for constructing
reproducible muscles
o Evaluated optimal sizes and materials
o Characterized the bladders so that they were
capable of consistently producing the necessary
forces
Wait for User’s
Command
Call AB/AD
module
= Too Extended
= Absolute Direction
Determine
current % flexion
Displacement (Length)
1.4
Push-to-connect
20 PSI
1.2
60 PSI
Displacement (in)
Eye-Hook
40 PSI
Inside Tubing: Rubber
1
Finger Abducts
or Adducts
Cycle extension
valve once
Cycle flexion
valve once
0.8
0.6
0.4
Finger Flexes by
Instructed Percentage
0.2
0
2
2.5
3
3.5
4
Length (in)
4.5
5
5.5
Mesh Material: PET
Air Muscle Displacement Based
on Pressure and Length
Logic Diagram of Finger Actuation Control
o 3 Fingers capable of the 4 DOF: Flexion/Extension &
Abduction/Adduction
o Addition of pinky, thumb, and wrist motion
o Grasping capabilities and tactile feedback
o Control Feedback obtained via Linear Potentiometers
o Simultaneous flexion of varying degrees
o Forces produced by 9 Air Muscles with the following lengths:
o Air muscles with increased life expectancy
o [3] Abduction & [3] Adduction – 2.5 in
o Improvements in maintenance and assembly
o [3] Flexion – 7 in
o Ease of air muscle serviceability
o User-Friendly LabVIEW Interface
Final Limb
Dr. Kathleen Lamkin-Kennard, Mr. John Wellin, Mr. Scott Kennard, Dr. Steven Day, Dr. Matthew Marshall, Mr. William Scarbrough, Mr. Edward
Hanzlik, Mr. David Hathaway, Dr. Mark Kempski, Mr. Robert Kraynik, Mr. Steven Kosciol, and Mr. Jonathan Niebielski
Special Thanks to RIT New Faculty Development Grant for Funding