156B Week 5
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
Full CAD of 1st iteration rough prototype (minus actuation electronics/packaging) completed
3D printing of palm, fingers, wrist, forearm motor mount structure, forearm cast model, bicep cast model completed
Test setup assembly & code for Proof of Concept demonstration completed
Myowear
Accomplishments from Previous Week
Positive mold of Gabby's arm created by Stephen Tregoning at Hangar Clinic & cast shape drawn (Estelle) (04/27)
1st Iteration of wrist CAD'ed and printed (Estelle)
1st full Iteration of Palm + fingers CAD'ed and printed (Erik)
1st Iteration of motor mounts + forearm structure CAD'ed and printed (Maris)
1st Iteration of motorized elbow design CAD'ed & lasercamm'ed (Michael)
Test setup for Proof of Concept demonstration assembled, wired, and coded (Estelle, Maris, Michael, Erik)
Foam for cast insulation ordered (04/25) (Estelle, Maris)
Reimbursements for previous orders completed (04/24) (Maris)
Received donated PLA/ABS filament rolls from Additive Rocket Corporation in exchange for sponsorship advertisement (Estelle)
Researched offline voice control options and chose to move forward with two options. Parts ordered for one (All ECE)
Researched online voice control options and chose to move forward with two options. Parts ordered - Raspberry Pi 3 (All ECE)
Researched wireless non-contact joystick options. No go decision (Andrew, Jess)
Started experimenting using Beaglebone for online options. Established API key (All, BongGeun and Patrick did additional experimentation)
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Get test socket from Stephen Tregoning at Hangar Clinic (05/02)
Determine fastening points for mechatronic components (Estelle, Maris)
Order optimized/final motors for elbow/fingers (Michael, Erik)
Order bearings for elbow (Michael)
Order delrin pins for fingers (Erik)
Order stock, inserts, and ball-nose spring plungers for wrist (Estelle)
If time: machine pins and wrist (Erik)
Determine controller/power management for design (Maris)
Test offline options using LEDs and servo motors and test voice recognition on Gabriella (Andrew, Jess)
Make a go/no go decision on offline voice control option after testing on Gabriella (All)
Make a go/no go decision on wireless contact joystick option in consultation with stakeholders (All)
Connect Raspberry Pi to Google Cloud Speech API and test voice recognition capabilities (BongGeun, Patrick)
Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Don't reinvent the wrist (Stephen Tregoning - 04/27 - in person)
Stephen alluded to wanting us to use a quick release wrist used in standard prosthetics for our design but unfortunately none that we have researched would be easily operated by Gabby (small contact area tab for quick release requiring strong dexterity in other hand) and allow for the tendons to pass through it (ie is hollow inside)
For our application, fiberglass would work best for the cast (Stephen Tregoning - 04/27 - in person)
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Look at sip and puff actuation method (Pedro - 04/23 - in person)
Although its a very cool and effective method to actuate a motored component in an analog fashion Gabriella isn't that handicapped. She does have use of her upper limbs (although limited) and we can find much better compact and socially acceptable (for a child) methods of actuation.
Look at non contact joystick actuation method (Jerry- 04/23 - in person/email)
Although its a very good method of wirelessly actuating a motored component it would be very easy accidentally activate the components by having Gabby swing her arms when walking (for example). Probably best to look into contact joystick method.
Risks and Areas of Concern
Will VR work on a child's speech which is not articulate and difficult to understand?
Will VR be able to distinguish between her voice and other people's voices? Can we shut it on/off by voice?
Will we have time to choose desired actuation method and implement it in arm/code/debug in time?
Will we be able to get the final cast (fiberglass) in time? will placing threaded inserts within the cast work?
Schedule
Week 5
ECE
- Order wireless switch hardware (04/30)
- VR (offline) ECE testing during week & on Gabby (05/04)
MAE
- Get test socket from Hanger Clinic (05/02) and determine fastening points
- Order updated hardware (bearings, motors, machine stock, delrin pins)
Budget (list amount spent and amount remaining)
Amount Spent: $443.16
Amount Remaining: $1,756.84
Progress on Report and Webpage
Report: Impact on Society completed, Standards started but unable to access links on webpage/must pay for books?
Title page image updated