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1 enable Hand Test Rig P606 David Schwartz, Tia Parks, Shannon Barry, Samantha Mason, Charles Rumfola

2 Agenda Recap Customer Requirements Engineering Requirements Effective Access Technology Conference Subsystems Subsystems from Last Phase Subsystems from This Phase Motor Load Cell Amplifier Shield Display / Data Analysis Prototyping Clamp Mounting Prototyping Strain Gauge Prototyping Design Drawings Bill of Materials Risk Assessment Block diagram Test Plans Plans for Next Phase Preliminary Plans for MSD II

3 Customer Requirements Inexpensive, $200 should be the maximum for construction Portable Repeatable Adaptable to other prosthetic models Easy to use Continuous Data Acquisition Does not alter prosthetics or remove any pieces Test the full hand strength, an overall grip strength test versus the angle of the wrist flexion

4 Engineering Requirements Requirement # Importance Metric Unit Target Value Subsystem $ 200 Entire Apparatus S 9 Cost S2 6 Weight of tester lbs 50 Entire Apparatus S3 5 Duration of test min 5 Motor S4 9 Max Force of Sensor lbs 50 Load Cell S5 8 Torque oz/in 250 Motor 8 Force Measurement Accuracy oz / Load Cell 8 Angle Measurement Accuracy / 2 Motor % 0% due to measurement error Entire Apparatus S6 S7 S8 7 Repeatability using gauge R&R

5 Effective Access Technology Conference MAGIC ACT enable Lab s booth November 0th, 205

6 Subsystems from Last Phase Subsystem Clamp Strain Gauge Controller / Processor Motor Shield Chosen 6" Medium Trigger Clamp 50kg Single Point Load Cell Arduino Uno Adafruit Motor/Stepper/Servo Shield

7 Subsystems from This Phase Subsystem Motor Load Cell Amplifier Shield Display / Data Analysis Chosen Stepper Motor NEMA23 RobotShop Load Cell Amplifier Shield PLXDAQ

8 Motor Torque Requirements Torque requirements determined through measuring enable gauntlet length and max force exerted Due to the small sample size and uncertainty of the data, the highest value calculated was multiplied by a factor of 3 to yield our basis for holding torque _max =.79 lb*in (89 oz*in) Torque Value Max Force Gauntlet Length Calculated Torque (F*L/2) Raptor (Green) lb 2 oz 4 in 2.25 lb*in 36 oz*in Raptor (Blue) lb oz 3.4 in.8 lb*in oz*in Raptor (Black and White w/ Whippletree) lb 3 oz Name oz*in 4.33 in 3.93 lb*in

9 Motor Pugh Chart Stepper Online Nema 23 $24.42 Requirements 2448V, 2.83A Holding Torque 283 oz*in Step Angle.8 Criteria Pololu 477 $49.95 Requirements 8.6V,.0A Holding Torque 90 oz*in Step Angle.8 Robotshop Nema 7 $48.00 Requirements 2V,.7A Holding Torque 667 oz*in Step Angle 0.08 MPJA Nema 23 $23.95 Requirements 5.7V, 2.3A Holding Torque 222 oz*in Step Angle.8 Pololu 477 Robotshop Nema 7 MPJA Nema 23 Cost Required Voltage Holding Torque Step Angle S S Total Required Current S Stepper Online Nema 23 Datum Datum Even though Nema 7 scores higher, the torque is way over what is needed, and the cost is high

10 Motor Pugh Chart Cont. Criteria Stepper Online Nema 23 Pololu Cost Required Voltage S Required Current Holding Torque Step Angle 2 S Total MPJA Nema 23 scored higher in the first assessment. Robotshop Datum Datum MPJA Nema 23

11 Load Cell Amplifier Shield This load cell shield was chosen this phase. Rather than using an instrumentation OpAmp Reasons behind the switch: We won't have to make our own PCB. Easier for end user/maker to obtain. Commonly used with the Strain Gauge that we have chosen. It is compatible with Arduino

12 Display / Data Analysis PLXDAQ was chosen. GoBetwino is a computer program, not just an Arduino function. This makes both options having equivalent ease of use. PLXDAQ was design to interface between Arduino and Microsoft Excel. Previous experience with PLXDAQ.

13 Clamp Prototyping The clamp was mounted to a pair of screws after drilling holes through it On the final prototype, these screws will be much longer rods that can be adjusted based on the hand The hard, plastic surface of the clamp was supplemented with adhesive foam to improve grip strength

14 Strain Gauge Prototyping With provided code, strain gauge prototyping was a success. Outputs were meaningless because it was not calibrated. Interfacing with PLXDAQ was unsuccessful. Planning a consult with someone more familiar with PLXDAQ.

15 Design Drawing

16 Design Drawing Continued New method of clamp mounting due to prototyping

17 Bill of Materials ID Part Name Quantity Vendor Price/Unit Total Price Make/Buy Arduino Uno Mouser $24.95 $24.95 Buy 2 Stepper Motor MPJA $23.95 $23.95 Buy 3 Wood Base 3 Acquire 4 Wooden Wheel Home Depot $5.85 $5.85 Buy/Make 5 Clamp Home Depot $0.97 $0.97 Buy 6 Sensors 5 $8.95 $44.75 Buy 7 Load Cell 3 RobotShop $7.00 $2.00 Buy 8 Motor Shield Mouser $9.95 $9.95 Buy 9 Wooden Dowel $6.94 $6.94 Buy 0 Screws 4 Acquire Op Amp 2 Mouser $4.74 $9.48 Buy 2 Power Supply Mouser $.34 $.34 Buy 3 Load Cell Amp Shield RobotShop $9.95 $9.95 Buy $99.3 Total Order Totals with Shipping Price Status Ordered from Mouser $73.27 Delivered Ordered from MPJA $38.03 On Order Ordered from RobotShop $49.95 Delivered Total $6.25

18 Risk Assessment

19 Risk Assessment cont. Risk Improvements: Sensor force range Budget Material arrival Clamp risks (breaking hand, doesn t mount well) New Risks: Additional padding on clamp not secure Components not compatible Missing components Biggest Risks: Lack of knowledge with programming & Electrical Clamp does not secure hand well enough

20 Electrical Schematic

21 Apparatus Test

22 Motor Testing Duration Testing: Measure how long it takes the fingers of the prosthetic hand to reach 45 degrees from starting position

23 Motor Testing Continued Torque Testing:

24 Motor Testing Continued Angle Measurement Accuracy Testing:

25 Strain Gage Testing

26 Plans for Next Phase

27 Preliminary MSD II Plans Finalize Prototype Assemble Components for Base Assemble Strain Gauge Assemble Subsystems together Code Arduino Test Prototype Verify Engineering Requirements are met Repeat tests with different hands Test with customer Acquire customer feedback Order more parts if needed Revise Prototype Make adjustments to design as necessary Finalize Apparatus Design Test Apparatus

e-nable Hand Test Rig

e-nable Hand Test Rig enable Hand Test Rig P606 David chwartz, Tia Parks, hannon Barry, amantha Mason, Charles Rumfola Agenda Recap Problem tatement Customer Requirements Engineering Requirements ubsystems Clamp election Controller/Processor

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