P 08023 Air Muscle Artificial Limb Jonathan Kasper

P 08023: Air Muscle Artificial Limb Jonathan Kasper Jenna Fike Matt Lewis Josa Hanzlik Ellen Cretekos Nick Rappa Eric Giang Mark Mc. Kann Project Manger (ME) Lead Engineer (EE) Design Lead (ME) Mechanical Engineer Electrical Engineer Mechanical Engineer Sponsor: Dr. Kathleen Lamkin-Kennard SDIIProject. Review. Rev-. doc 1

P 08023: Project Description �Project Statement: � “Develop a Scalable Robotic Limb that Accurately Models All Degrees of Freedom of Human Fingers. ” �Market: RIT Biomechanical Program � Showcase for New Technology �Key High Level Needs / Engineering Specs � Realistic Finger Motions � Reliability � Low Cost � Control Repeatability � Reliability & Serviceability SDIIProject. Review. Rev-. doc 4 DOF in Fingers # Tendons, # Muscles Finger Displacement, +/- 3% Air Muscle = $3 approx. Supplied Air Pressure 60 psi. Air Muscle Life Span 2

Design/Build Concept Summary �Hand Material �Fasteners �Tendon Cable �Tendon Hardware �Return Ligament Cable �Pneumatic Fittings SDIIProject. Review. Rev-. doc 3

Air Muscle Concept Summary �Mesh Material �Tube Material �Air Side Connector �Plug SDIIProject. Review. Rev-. doc 4

Controls Concept Summary �Control Software �Data Acquisition System �Relay Board �Valves �Feedback Sensor SDIIProject. Review. Rev-. doc 5

P 08023: System Architecture Lab. VIEW DAQ Pressure Valves Air Muscles SDIIProject. Review. Rev-. doc 6 Artificial Hand

P 08023: Final Design SDIIProject. Review. Rev-. doc 7

Design/Build Summary Berkley Steelon Wire Push-to-Connect Fitting Berkley Cable Hardware SDIIProject. Review. Rev-. doc Aluminum Cotter Pins Elastic Shock Cable Standard Rubber Band 8

Air Muscle Summary Push-to. Connect Fitting PET Mesh 1/8” ID Rubber Tube SDIIProject. Review. Rev-. doc Eye Hook 9

Controls Summary Linear Potentiometer DAQ Relay Board SDIIProject. Review. Rev-. doc Solenoid Valves 10

Air Muscle Testing Results • Abduction/Adduction 2. 5 in • Flexion 7 in • Preload variability is less then manufacturing variability • Applied preload will not effect air muscle output SDIIProject. Review. Rev-. doc 11

Oh No You D’nt SDIIProject. Review. Rev-. doc 12

WOW SDIIProject. Review. Rev-. doc 13

Incremental Motion

System Testing �Each finger was tested to verify flexion and ab/adduction motions: � Individual Flexion � Cycling Flexion (x 20) � Individual Abduction � Cycling Abduction (x 20) � Individual Adduction � Cycling Adduction (x 20) � Consecutive Motion Flexion � Consecutive Motion Abduction � Consecutive Motion Adduction � Incremental Flexion Motion SDIIProject. Review. Rev-. doc 15

Test Results �No finger breakage was observed �No strain on finger/ligament/muscle �Smooth incremental movement �No abnormal delays between interface and actuation �Fingers do not contact palm �Fingers collide, does not affect motion SDIIProject. Review. Rev-. doc 16

Project Evaluation Successes: Fluid motion of finger extension Incremental flexion motion achievable within 7% Ease of serviceability SDIIProject. Review. Rev-. doc Shortcomings: Simultaneous manipulation of fingers not possible Collisions between fingers Fingers do not contact palm 17

Future Work �Addition of Pinky and Thumb �Finger Design Improvement �Manipulation of Multiple Fingers Simultaneously �Integrated Grasping Capability �Tactile Feedback �Reduced Air Muscle Variability �Extended Air Muscle Life SDIIProject. Review. Rev-. doc 18

Special Thanks Dr. Kathleen Lamkin. Kennard Mr. John Wellin Mr. Scott Kennard Dr. Steven Day Dr. Matthew Marshall Mr. William Scarbrough RIT New Faculty Development Grant Mr. Edward Hanzlik Mr. David Hathaway Dr. Mark Kempski Mr. Robert Kraynik Mr. Steven Kosciol Mr. Jonathan Niebielski.