156B Week 7
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
Printing second iteration of the arm to fit full first prototype on Gabby, Friday (05/18)
VR offline actuation method No Go'ed
VR online actuation method cost researched and additional hardware ordered (05/13)
Power management awaiting responsibility assignment (but research/part list started by Maris)
Fasteners, delrin, heat inserts for mechanical components ordered (05/13)
Accomplishments from Previous Week
Fitted prosthetic socket on Gabby (05/11) (Michael, Estelle, Erik) and determined which angle was best for elbow operation, found out bicep/forearm cast are too long (will have to be shaved down), and elastic bands could work to keep socket on Gabby (but with components fastened may be too heavy and slip off)
Finished design for forearm enclosure/motor mount (Estelle)
Designed new wrist with flush bull nose spring plungers (Estelle)
Contact Joystick method researched, assembled, wired, coded (Maris)
Contact joystick method tested on Gabby (Maris) -> successful
Designed 2nd iteration of elbow solution (Michael)
Printed 2nd iteration of elbow solution (Michael)
Started assemble of 2nd iteration of elbow solution (Michael)
Started 2nd iteration design of palm, fingers-> scaling it down (Erik)
Successfully controlled test servo using Google API online option (BongGeun, Patrick)
Successfully integrated button for on/off switch of Raspberry Pi (BongGeun, Patrick)
Tested Google API online option on Gabby (BongGeun, Jess, Patrick)
Tested hardware and software implementation of filtering for offline voice option (Andrew)
Successfully controlled test servo using offline voice option (Jess)
Made a no go decision on the offline voice option (All)
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Machine Delrin pins, shafts, plate and aluminum female wrist part (Erik)
Print Forearm enclosure and assemble (Estelle)
Print wrist v.2 with ball nose spring plungers and do tolerance test (Estelle)
Print fingers, palm+wrist v.2 (Erik)
Finish assembling elbow solution (Michael)
Shave down test cast to actual dimensions of socket for test fit (Michael)
Start bicep enclosure of electronics (Maris?)
Talk to sponsor and ask which actuation method they prefer-> VR online vs Contact Joystick (Estelle)
Integrate LEDs to determine battery level (TBD)
Decide on final actuation method (All)
Integrate kill switch or button for all components (Raspberry Pi, servos) (TBD)
Deliver working prototype of actuation method (All)
Test AIY kit (TBD)
Research mobile hotspot options (Jess)
Estimate monthly ongoing cost of online voice control option (Andrew)
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Report comments (Pedro+Prof.Tustaniwskyj, 05/07, in person)
Addressing them as we speak
Make wrist more durable (Prof. Tustaniswskyj, 05/07, in person)
Designed new wrist with ball nose spring plungers (Estelle)
Use commercially available pulleys when possible (Prof. Tustaniwskyj, 05/07, in person)
now using commercially available pulleys in elbow design (Michael)
Risks and Areas of Concern
Power management -> who is responsible
Assembling all components in time for Friday
Shaving down socket to fit Gabriella (should we do it vs Stephen)
Fastening method for cast on Gabby's arm
Schedule
1st fitting of full prototype (minus actuation method) on Gabby (05/18)
Determine which actuation method we are using (before 05/18)
Budget (list amount spent and amount remaining)
Spent: $1,038.24
Remaining: $1,161.76
Progress on Report and Webpage
Addressing comments on 1st draft of Report and adding information