Arxterra

Tag: spring 2017

  • S17 Prosthetic Hand: Final Document

    S17 Prosthetic Hand: Final Document

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    The Robot Company | CEO Professor Gary Hill
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    Blog Post Created by Project Manager | Bianca Esquivel

    Mission, Systems, and Test Engineer | Chris Bautista Electronics and Control Engineer | Forest Nutter

    Design and Manufacturing Engineer | David Mendoza

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    [av_heading tag=’h1′ padding=’10’ heading=’Executive Summary’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    By Project Manager | Bianca Esquivel
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    There are 3 main project objectives that address the problem of the customer being born without a right hand and cater to his preferred recreational activities:

    Being able to operate a computer mouse, specifically being able to right click and left click.

    • Ability to scroll is a plus.

    Being able to pick up and drink a cup of water.

    • Ability to pick up thin/fragile paper cup is a plus.

    Being able to pick up and eat a chips ahoy cookie without breaking the cookie.

    • Ability to pick up and eat a sun-chip without breaking the chip is a plus.

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    Mission Profile from Start to Finish:

    • Customer will sit down at a desk in front of a computer with a cup of water and a plate of cookies within the reach of his prosthetic hand
    • The computer will have a game of minesweeper ready to play
    • With the prosthetic hand he will be able to operate the mouse to play minesweeper and reset the game if he should lose or restart the game should he win
    • He will be able to grasp the cup of water within his reach to drink from at his leisure without crushing the cup
    • He will be able to rotate his wrist and grasp a chips ahoy cookie within his reach and eat one at a time at his leisure without crushing the cookie

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    • Complements the measurements of the customer
    • No force sensors are included in the thumb therefore, it isn’t included in the picture
    • Tips of the fingers are equipped with force sensors and rubber tips to help with gripping objects

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    • Rubber fingertips for better gripping capabilities
    • Force Sensors for a more controlled grip
    • Flex Sensors used to control the grip with the use of the toes
    • PLA Material due to project budget

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    By Mission, Systems, and Test Engineer | Chris Bautista
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    Link to Interface Definitions:

    Prosthetic Hand Interface Definitions
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    [av_tab title=’Software Block Diagmram – Hand’ icon_select=’yes’ icon=’ue8be’ font=’entypo-fontello’]


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    by Electronics and Control Engineer | Forest Nutter
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    TB6612FNG

    Motor Driver Requirements Needed

    • 11v input
    • 5v logic
    • H-bridge included
    • 0.15A output current

    Reason for specified IC

    • SMD available
    • Break out board sold from sparkfun for testing
    • Available on DigiKey

    Link to requirements

    • L1-2 Motion
      • The prosthetic hand shall have individual motion in at least 2 fingers
    • L2-3 Motors
      • The hand should flex and extend using motors.

    Arduino Micro

    Purpose

    • Receive and send data from the xbee
    • Read Analog voltages from the force resistors
    • Control the motor drivers based on inputs from the xbee
    • Control the servo based on inputs from the xbee

    Reason for specified MCU

    • Serial Communication
    • 6 Analog Pins
    • 6 Digital Pins
    • 4 PWM Pins
    • 1 Timer
    • 5v logic, but also accepts 3.3v logic
      • Useful because xbee is a 3.3v device
    • Available from last semester

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    [av_tab title=’Arduino Micro’ icon_select=’yes’ icon=’ue856′ font=’entypo-fontello’]

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    [av_toggle title=’Firmware: Foot PCB Code’ tags=”]

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    [av_toggle title=’Firmware: Hand PCB Code’ tags=”]

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    [av_toggle title=’Mode Chooser Flow Chart’ tags=”]

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    [av_toggle title=’Motor Control Flow Chart’ tags=”]

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    [av_toggle title=’Servo Positioning Flow Chart’ tags=”]

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    [av_toggle title=’Xbee Flow Chart’ tags=”]

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    [av_tab title=’Breadboarded Xbee Circuit’ icon_select=’yes’ icon=’ue839′ font=’entypo-fontello’]

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    [av_tab title=’Breadboarded Flex Sensor Circuit’ icon_select=’yes’ icon=’ue8ad’ font=’entypo-fontello’]

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    [av_tab title=’Hand and Arm PCB Layout’ icon_select=’yes’ icon=’ue814′ font=’entypo-fontello’]

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    [av_tab title=’Foot PCB Layout’ icon_select=’yes’ icon=’ue815′ font=’entypo-fontello’]

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    by Manufacturing and Design Engineer | David Mendoza
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    Link to Final Prosthetic Hand Palm Design Blog Post:

    Prosthetic Hand Palm Design

    Link to Final Prosthetic Hand Fingers Design Blog Post:

    Prosthetic Hand Fingers Design
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    by Mission, Systems, and Test Engineer | Chris Bautista

    Link to Verification & Validation Report – Prosthetic Hand:

    V&V Prosthetic Hand
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    [av_heading tag=’h1′ padding=’10’ heading=’System Resource Reports’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    by Mission, Systems, and Test Engineer | Chris Bautista
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    by Project Manager | Bianca Esquivel


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    [av_heading heading=’Project Resources’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

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    Project Video: Prosthetic Limb 2017 Project Video

    CDR PowerPoint: Prosthetic Hand CDR PPT

    PDR PowerPoint: Prosthetic Hand PDR PPT

    Project Libre & Excel Burndown: Prosthetic Limb Schedule & Burndown

    Verification & Validation Report: V&V Prosthetic Hand

    Solidworks Files: Mechanical Blog Post 1, Mechanical Blog Post 2

    Fritzing Files: Electrical Blog Post 1, Electrical Blog Post 2, Electrical Blog Post 3

    Eagle CAD Files: Electrical Blog Post 4

    Arduino Code: Software Blog Post

    Bill of Materials: Prosthetic Hand Reimbursement Form

    The Entire 400D Prosthetic Limb Folder: Prosthetic Limb 2017 Group Folder
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  • S17 Prosthetic Arm: Final Document

    S17 Prosthetic Arm: Final Document

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    [av_heading tag=’h3′ padding=’10’ heading=’Spring 2017 Prosthetic Arm: Final Document’ color=” style=’blockquote classic-quote’ custom_font=” size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    The Robot Company | CEO Professor Gary Hill
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    Blog Post Created by Project Manager | Bianca Esquivel

    Mission, Systems, and Test Engineer | Phuong Tran Electronics and Control Engineer | Mikael Movsisyan

    Design and Manufacturing | Cedric Yannick Mbetga

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    [av_heading tag=’h1′ padding=’10’ heading=’Executive Summary’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    By Project Manager | Bianca Esquivel
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    [av_icon_box position=’left’ boxed=” icon=’ue81f’ font=’entypo-fontello’ title=’Project Objective’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    There are 3 main project objectives that address the problem of the customer being born without a right arm and cater to his preferred recreational activities:

    1. Being able to operate a computer mouse by supporting and rotating the wrist that joins the prosthetic hand to the prosthetic arm.
    2. Being able to pick up and drink a cup of water by allowing for proper wrist rotation and supporting the weight of both the prosthetic hand and the cup of water.
      1. Ability to hold more than 8 oz. of water is a plus.
    3. Being able to pick up and eat a chips ahoy cookie by allowing for proper wrist rotation and supporting the weight of both the prosthetic hand and the cookie.

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    Mission Profile from Start to Finish:

    • Customer will sit down at a desk in front of a computer with a cup of water and a plate of cookies within the reach of his prosthetic arm
    • The computer will have a game of minesweeper ready to play
    • With the prosthetic arm he will be able to rotate his wrist to properly operate the mouse to play a game of minesweeper and be able to reset the game should he lose or restart the game should he win
    • He will be able to rotate his wrist in order to properly take hold of the cup of water within his reach to drink from at his leisure
    • He will be able to rotate his wrist in order to properly take hold of a chips ahoy cookie within his reach to eat one at a time at his leisure

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    [av_icon_box position=’left’ boxed=” icon=’ue836′ font=’entypo-fontello’ title=’The Design’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]

    • Switch used to power the arm and hand on/off
    • Comfortable cuff fit for the customer
    • Room for PCB, Battery, and MCU in the limited space of the forearm
    • Room for the servo to rotate the wrist

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    [av_toggle title=’Prosthetic Arm Design Image’ tags=”]

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    • Wrist Rotation of 90 degrees
    • Personally designed to match the customer’s arm measurements
    • Comfortable arm attachment, unlike the over the shoulder strap that was often used before
    • PLA Material due to project budget
    • EMG (Electromyography) Sensor used to control the movement of the wrist
    • Most of our parts are off the shelf products to keep the budget low, while still keeping the form factor of the prosthetic arm

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    By Mission, Systems, and Test Engineer | Phuong Tran
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    [av_toggle title=’System Design: Mechanical Perspective’ tags=”]

    Gray: Humeral Suspension Cuff

    Red: Upper Forearm

    Yellow: Lower Forearm

    Green: Wrist
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    [av_toggle title=’System Design: Electrical Perspective’ tags=”]

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    Link to Interface Definitions:

    Prosthetic Arm Interface Definitions

    Link to Interface Control Document:

    Prosthetic Arm Interface Control Document

    Cable Tree:

    Link to Mission Command & Control:

    Prosthetic Arm Mission Command & Control
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    [av_heading tag=’h1′ padding=’10’ heading=’Electronics Design’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    By Electronics and Control Engineer | Mikael Movsisyan
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    [av_tab title=’Buck Converter’ icon_select=’yes’ icon=’ue856′ font=’entypo-fontello’]

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    [av_tab title=’LTSpice Simulation Buck Converter’ icon_select=’yes’ icon=’ue858′ font=’entypo-fontello’]

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    LT3971-5 Buck Converter from Linear Technology

    Purpose:

    • To satisfy L2.2.1 – Wrist Motion
    • To step down 11.1V to 5V

    Rationale:  

    • Running current MG996R: 500-900mA (from datasheet)
    • Arduino Micro 5V pin rated 200mA
    • VCC fluctuations (Appendix 1.)
    • Voltage regulators (LM7805) tend to overheat

    Reason for specified IC:

    • Relatively cheap
    • >1V logic (Enable Pin)
    • LTSpice simulation showed constant 5V output up to 1.2A

    TI’s LM34 Temperature Sensor

    Purpose:

    • To satisfy L2.4.1 Safety – Temperature
    • Measure analog temperature proportional to Fahrenheit

    Rationale:

    • Above threshold analog input from sensor will cause MCU to power-down

    Reason for specified IC:

    • Can measure required temperature 50oC i.e. 122F (Appendix 4)
    • Used through-hole component in 370L
    • Ease of use

    GRS-4011 Switch

    Purpose:

    • To satisfy L2.4.2 Safety – Kill Switch
    • Switch off supply to MCU (Appendix??)

    Rationale:

    • User can manually shut-down prosthetic arm

    Reason for specified component:

    • Available at hand
    • Current/Voltage rating 16A/125V

    Sparkfun’s 2 DOF IMU with ADXL203 Accelerometer

    Purpose:

    • To satisfy requirement from Con Ops
    • To measure orientation

    Rationale:

    • Wrist can only turn in specified orientation (Appendix 3)

    Reason for component:

    • Available in inventory
    • Analog outputEase of use

    TowerPro MG996R Servo

    Purpose:

    • To satisfy L2.2.2. Motion

    Reason for component:

    • Trade-off-Study
    • Load Test

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    [av_tab title=’Firmware: Main Program’ icon_select=’yes’ icon=’ue86b’ font=’entypo-fontello’]

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    [av_tab title=’Firmware Flow Chart’ icon_select=’yes’ icon=’ue810′ font=’entypo-fontello’]

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    [av_tab title=’FSM States Overview’ icon_select=’yes’ icon=’ue857′ font=’entypo-fontello’]

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    Original Design Components

    • Arduino Micro
    • LM34 Temperature Sensor
    • MyoWare EMG Sensor

    Unspecified components

    • Servo
    • Switch
    • LiPo Battery

    Added Components

    • Buck Converter
    • IMU

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    [av_toggle title=’Prosthetic Arm Fritzing Diagram’ tags=”]

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    • Rapid prototyped 3D design
    • MyoWare EMG sensor & IMU analog readings are used to control servo
    • Light-dependent voltage divider simulates analog reading from a temperature sensor. Used with sleep ISR to power-down MCU.  

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    In order to meet the following requirement

    • L1-1 – Attachment
    • L2-1-Mass Management
    • L2-1-2- over shoulder strap

    The module shown in figure below was created and modeled after the patented humeral cuff displayed below. Most of these parts were designed in solidworks and printed out. However the ¼ metal rods for the humeral cuff were purchased.
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    [av_toggle title=’Humeral Suspension Cuff Module’ tags=”]

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    [av_toggle title=’Humeral Suspension Cuff Mounted on Socket’ tags=”]

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    [av_toggle title=’Cuff Sitting on Humerus Bone’ tags=”]

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    The rotation of the wrist is controlled by the servo MG996R which was located in the lower arm. The 90 degree turn (L2-2-1 requirement) of the wrist was met by applying the appropriate gear ration of 17/11= 1.55.

    Two gears are designed:

    • Driven gear with 17 teeth
    • Driver gear with 11 teeth

    To avoid the prosthetic hand wire bundle hanging out of the arm, a hole was drawn through the driven gear such that the bundle could travel through it.


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    [av_toggle title=’Driven Gear and Driver Gear’ tags=”]

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    [av_toggle title=’Cable Tree Hand & Arm Integration’ tags=”]

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    The prosthetic arm was assembled after final printing. This will be done using M3 screw and hex nuts. Hence hex houses were modeled in solidworks to house these nuts. Some of the advantages of these houses are that they:

    • Allow assembly with less maneuvering
    • Allow for easier disassembly of the parts
    • Are a better fastening method

    In addition, the the wrist is modeled in a way that allows the prosthetic hand to attach to the prosthetic arm via screws
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    [av_toggle title=’Hex Nut House’ tags=”]

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    [av_toggle title=’Solidworks Final Wrist Design’ tags=”]

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    by Mission, Systems, and Test Engineer | Phuong Tran

    Link to Final Verification Tests for Prosthetic Arm:

    Verification Tests

    Link to V&V Report for Prosthetic Arm:

    V&V Report Prosthetic Arm
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    by Mission, Systems, and Test Engineer | Phuong Tran
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    by Project Manager | Bianca Esquivel


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    [av_heading heading=’Project Resources’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

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    Project Video: Prosthetic Limb 2017 Project Video

    CDR PowerPoint: Prosthetic Arm CDR PPT

    PDR PowerPoint: Prosthetic Arm PDR PPT

    Project Libre & Excel Burndown: Prosthetic Limb Schedule & Burndown

    Verification & Validation Report: V&V Prosthetic Arm

    Solidworks Files: Mechanical Blog Post 1, Mechanical Blog Post 2, Mechanical Blog Post 3

    Eagle CAD Files: Electrical Blog Post

    Arduino Code: Software Blog Post

    The Entire 400D Prosthetic Limb Folder: Prosthetic Limb 2017 Group Folder
    [/av_textblock]

  • S17 Prosthetic Hand: Solidworks Palm Design

    S17 Prosthetic Hand: Solidworks Palm Design

    [av_image src=’/wp-content/uploads/2017/05/Fig5P.png’ attachment=’25523′ attachment_size=’full’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading tag=’h3′ padding=’10’ heading=’Spring 2017 Prosthetic Hand: Solidworks Palm Design’ color=” style=’blockquote classic-quote’ custom_font=” size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    The Robot Company | CEO Professor Gary Hill
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    Blog Post Created by Project Manager | Bianca Esquivel

    Project Designs Created by Manufacturing and Design Engineer | David Mendoza

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    [av_heading tag=’h1′ padding=’10’ heading=’Introduction’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    When starting this project, it was decided to design a different hand, from previous generation hands design. This was mostly because we found a volunteer, Ernesto, to help demo the project and so the hand need to match the same size as the other hand. This will go over the process of designing and re-designing the palm, and any other parts need to be attached to the palm.

    This process is performed in response to requirement:

    L1-9 Appearance: The prosthetic hand shall be approximately the same size as the customer’s other hand.

    Palm: 11 cm

    L2-7 Appearance | System

    The prosthetic hand should have a humanoid design such that most integrated parts will not be visible, corresponding to the customer’s measurements: Index Length: 9 cm, Middle Length: 10 cm, Ring Length: 8 cm, Pinky Length: 7 cm, Thumb Length: 10 cm, and Palm Length: 11 cm
    [/av_textblock]

    [av_heading tag=’h1′ padding=’10’ heading=’Process’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    The prosthetic palm was going to be modeled after the Inmoov design (Langevin) as shown in Figure 1. The palm would have been made up of two or three parts, depending on how it would have been designed in Solidworks.  The original idea was to combine the two parts that connect to the ring and pink finger to make it into two-part palm.

    Once we found a new customer, Ernesto, we had to change the design from putting the servo and/or motors from the lower part of the wrist to being inside the palm. Then from the thesis of Hussein on page 26 I modeled the palm to be like his. With the help of auto trace in Solidworks, I took the picture shown in figure 2, and traced it to design the new palm. To fit the size of Ernesto I made the length, from the fingers to the wrist, to be 11 cm and then width was about 90 cm, which turned out to be too big. The fingers would fit on the palm and use some screws or pins to lock them into position. Than the string will go through the holes into the palm and connect to the spools, which are connected to the DC 12 V 10 RPM motors and turn to pull the string, and bend the fingers. When I printed out the palm I had designed, there were some issues as to how the motors and servo would be placed and how they would stay in one position.

    After trying to design the palm from scratch I looked back at the tact hand (2016) and saw how they could keep the motors in place. So, I began to redesign that part so that they would fit our finger sizes, that is shown in figure 3.

    After designing this part, I looked at how the servo will be held in place, this part was also modeled from a prat on the Tact hand (2016). So, I redesigned the cover for the servo, as it is shown in figure 4, and it will be screwed on inside the palm with half the servo sticking out so it can connect to the thumb and move freely.

    Then after looking over the designs I made for the palm, both the Project Manager, Bianca Esquivel, and I decided to make some changes, to how the DC motors will be placed and how the fingers will connect to the palm. Now the holes that will connect the fingers to the palm will be circular holes for the string to go through to reach the DC motors. I also added in an extra space for the servo to be screwed on, for the thumb. After talking with the arm group, about how we are to connect the hand and arm together. We decided that the arm will go inside the palm that will have to holes to put screws through and hold them together.

    The final part was the cover for the palm. Which I traced the outer lines of the palm, then I will screw nails to hold the cover onto the palm.
    [/av_textblock]

    [av_heading tag=’h1′ padding=’10’ heading=’Results’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    When the palm from figure 5 was finally printed, and assembled together with the fingers, it was seen that the hand would not be able to work or grasp anything. This could be because the fingers were not placed in the right position or that they were too long. Another error that occurred with this design was that there was no place to hold the motors still, so that they can pull the strings.
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    [av_heading tag=’h1′ padding=’10’ heading=’Conclusion’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    It would have been best to print out the palm sooner and faster, to be able to look over it and see what need to be fixed and possible ways to fix it. It was tough trying to figure it out all at once on Solidworks, the best approach would be to design it and print it out then talk to the team about how to make it better. It would have helped a lot more, to print out the hand sooner and then try and solve possible ways to use the pulley system for the fingers and how to hold the motors in place.

    Link to Palm Solidworks Files:

    Prosthetic Hand Solidworks Palm
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    [av_toggle title=’Figure 1′ tags=”]

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    [av_heading tag=’h1′ padding=’10’ heading=’References’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Langevin, G. (n.d.). Hand and Forarm. Retrieved April 30, 2017, from http://inmoov.fr/hand-and-forarm/

    Hussein, M. E. (2014). 3D Printed Myoelectric Prosthetic Arm (Unpublished master’s thesis). Sydney University. Retrieved from https://drive.google.com/folderview?i…

    S, P. (2016, May 12). Tact: Low-cost, Advanced Prosthetic Hand. Retrieved April 30, 2017, from http://www.instructables.com/id/Tact-Low-cost-Advanced-Prosthetic-Hand/
    [/av_textblock]

  • S17 Prosthetic Hand: Solidworks Fingers Design

    S17 Prosthetic Hand: Solidworks Fingers Design

    [av_image src=’/wp-content/uploads/2017/05/Fig2Fing-2-281×300.png’ attachment=’25509′ attachment_size=’medium’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading tag=’h3′ padding=’10’ heading=’Spring 2017 Prosthetic Hand: Solidworks Fingers Design’ color=” style=’blockquote classic-quote’ custom_font=” size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    The Robot Company | CEO Professor Gary Hill
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    Blog Post Created by Project Manager | Bianca Esquivel

    Project Designs Created by Manufacturing and Design Engineer | David Mendoza

    [/av_textblock]

    [av_heading tag=’h1′ padding=’10’ heading=’Introduction’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

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    To make this project look more humanoid and match the customer’s finger size, the fingers, which were acquired from Inmoov, needed to be adjusted. The finger lengths and diameters had to be scaled, so that they can approximately be similar to the customers other hand.

    This process is performed in response to requirement:

    L1-9 Appearance: The prosthetic hand shall be approximately the same size as the customer’s other hand.

    Index Length: 9 cm

    Middle Length: 10 cm

    Ring Length: 9 cm

    Pinky Length: 7 cm

    Thumb Length: 10 cm

    L2-7 Appearance | System

    The prosthetic hand should have a humanoid design such that most integrated parts will not be visible, corresponding to the customer’s measurements: Index Length: 9 cm, Middle Length: 10 cm, Ring Length: 8 cm, Pinky Length: 7 cm, Thumb Length: 10 cm, and Palm Length: 11 cm
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    [av_heading tag=’h1′ padding=’10’ heading=’Process’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    The fingers used for the Hand are scaled fingers that were used in the Inmoov [1], by Langevin, the link to his fingers were given in a CAD file on thingiverse [2]. The file that were give were STL files, which cannot be modified, but since these fingers were the type of fingers that we wanted use. We just need to scale them so that they match the same finger length of your customer Ernesto, as shown in figure 1.

    The sizes of Ernesto’s fingers are:

    Index: 9 cm long 2 cm diameter.

    Middle: 10 cm long 2 cm diameter

    Ring: 9 cm long 1.75 cm diameter

    Pinky: 7 cm long 1.6 cm diameter

    I was able to put the STL into Solidwork, with the help of Gill on grab CAD showing me how to do this [3]. After looking at the files for the fingers, I found out that I could not change the way the fingers looked, but after looking at Rafi tutorial [4] found that I can scale them. Since the model fingers, that we were going to use, had the shape of regular fingers, I only needed to scale the length of each finger. While trying to scale each finger, I did make a mistake on using the index finger and my prime model for scaling each finger. What I found out was that the scaling can have a huge effect to the holes if they are scaled too much. Even though the index, middle and ring finger were not affected by the scaling, the pinky finger did not come out so well. The second time I scaled the fingers I did them from the original files that I got from Langevin,

    The original sizes of Langevin Inmoov Fingers:

    Index3: 9.51 cm long 1.77 cm diameter

    Majeure3: 10.2 cm long 1.9 cm diameter

    Ringfinger3: 9.07 cm long 1.6 cm diameter

    Auriculaire3: 8.17 cm long 1.4 cm diameter

    To get the scaling factors that were needed to get the Inmoov fingers to get the same length as Ernesto’s.

    Scaling Factor=Ernistos finger size/Inmoov finger size=9 cm/9.51 cm=0.94637224

    I was able to do this for the four fingers, as seen in figure 2, the thumb was a little harder to calculate. This was because I did not know where I should measure the thumb from on Ernesto’s hand. The thumb in the first measurement was about 10 cm, but this was to include the part that connected it to the servo. Since I hand to redesign the part that will connect the thumb to the servo, I took that length out and resized the thumb to be 7 cm in length. After resizing the thumb I designed the part that will connect the thumb to the servo that is shown in figure 3, I modeled it similar to the Thumb-Hinge from the act hand [5].
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    [av_textblock size=” font_color=” color=”]
    When the fingers were assembled, they were approximately the sizes that were needed for the project. The string that was used to pull the fingers went through the holes in the fingers then glued and screwed together. Once the palm was finished and printed, the fingers would be glued on. Once they were on the palm it was seen that they were not able to grasp anything and were not positioned correctly on the palm so that they can reach far enough to grasp something with the thumb.
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    [av_heading tag=’h1′ padding=’10’ heading=’Conclusion’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Looking at how the fingers were designed in the previous generation and comparing it to how these fingers came out. It can be seen that the previous generation fingers used a lever in the middle of the fingers so that they did not have to use too much of their string to pull the finger. The fingers from the previous generation, had a better position to move close enough to be able to grasp a cup. The fingers from the Inmoov fingers would have worked better if the palm was able to have two parts and be able to bend with the fingers.

    Link to Solidworkds Finger Files:

    Prosthetic Hand Fingers
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    [av_heading tag=’h1′ padding=’10’ heading=’References’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Langevin, G. (n.d.). Hand and Forarm. Retrieved April 30, 2017, from http://inmoov.fr/hand-and-forarm/

    Langevin, G. (2012, February 18). Hand robot InMoov by Gael_Langevin. Retrieved May 04, 2017, from http://www.thingiverse.com/thing:17773

    Gill, S. (2012, June 1). How do I convert STL graphics to a solid model? Retrieved May 04, 2017, from https://grabcad.com/tutorials/how-do-i-convert-stl-graphics-to-a-solid-model

    Rafi, F. (2014, January 1). Tutorial: How to scale stl in solidworks? Retrieved May 04, 2017, from https://grabcad.com/tutorials/tutorial-how-to-scale-stl-in-solidworks

    S, P. (2016, May 12). Tact: Low-cost, Advanced Prosthetic Hand. Retrieved April 30, 2017, from http://www.instructables.com/id/Tact-Low-cost-Advanced-Prosthetic-Hand/
    [/av_textblock]

  • S17 Prosthetic Limb: Verification and Validation Reports

    S17 Prosthetic Limb: Verification and Validation Reports

    [av_image src=’/wp-content/uploads/2017/05/VV-1-300×153.png’ attachment=’25493′ attachment_size=’medium’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading heading=’Spring 2017 Prosthetic Limb: Verification and Validation Reports’ tag=’h3′ style=’blockquote classic-quote’ size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ padding=’10’ color=” custom_font=”]
    The Robot Company | CEO Professor Gary Hill
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    [av_textblock size=” font_color=” color=”]

    Blog Post Created by Project Manager | Bianca Esquivel

    Prosthetic Arm Verification and Validation Report Written by Mission, Systems, and Test Engineer | Phuong Tran

    Prosthetic Hand Verification and Validation Report Written by Mission, Systems, and Test Engineer | Chris Bautista

    [/av_textblock]

    [av_heading heading=’Reports’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

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    Link to Verification and Validation Report for the Prosthetic Arm:

    V&V Prosthetic Arm

    V&V Test Plan Prosthetic Arm

    Link to Verification and Validation Report for the Prosthetic Hand:

    V&V Prosthetic Hand

    With a Waiver Included at the End of the V&V Report for the Prosthetic Hand addressing the use of PLA Plastic to 3D print the Prosthetic Arm and Hand.
    [/av_textblock]

  • S17 Prosthetic Arm: Power Allocation Report

    S17 Prosthetic Arm: Power Allocation Report

    [av_image src=’/wp-content/uploads/2017/05/PwrRArm-5-300×125.png’ attachment=’25488′ attachment_size=’medium’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading heading=’Spring 2017 Prosthetic Arm: Power Allocation Report’ tag=’h3′ style=’blockquote classic-quote’ size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ padding=’10’ color=” custom_font=”]
    The Robot Company | CEO Professor Gary Hill
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    Blog Post Created by Project Manager | Bianca Esquivel

    Project Documentation Written by Mission, Systems, and Test Engineer | Phuong Tran

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    [av_heading heading=’Preliminary Information’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_icon_box position=’left’ boxed=” icon=’ue84b’ font=’entypo-fontello’ title=’Introduction’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    This report is created in response to requirements

    L1-3: The Prosthetic Arm shall be able to operate for at least 16 minutes and 39 seconds (999 seconds) which is the duration allowed to play a game of minesweeper.

    L2.3.1: The capacity of the battery shall be more than 943 mAh

    In this report, we seek to understand the source of each quantity placed in the report.
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    Refer to Battery Discharge Test and Servo Load Test

    Link to Battery Discharge Test

    Link to Servo Load Test

    Link to Hand Current Draw

    Link to Arduino Micro Specs
    [/av_icon_box]

    [av_heading heading=’Background’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Battery Discharge Test and Servo Load Test

    Link to Battery Discharge Test

    Link to Servo Load Test
    [/av_textblock]

    [av_toggle_container initial=’0′ mode=’accordion’ sort=”]
    [av_toggle title=’Power Resource Report’ tags=”]

    [/av_toggle]

    [/av_toggle_container]

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    [av_heading heading=’Test and Evaluation’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Battery Discharge Test and Servo Load Test

    Link to Battery Discharge Test

    Link to Servo Load Test
    [/av_textblock]

    [av_heading heading=’Data’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    In this section, we seek to understand the reason for each quantity placed in the power report

    B3: This value was from the last semester measured current draw of the hand

    Link to Hand Current Draw

    D3: This uncertainty was 20% because the MST engineer was not present when the measured value was taken

    E3: This high margin corresponds to the high uncertainty percentage

    B4: This value was calculated by 20mA (current draw from each I/O port) multiply by 20 (# of I/O ports)

    Link to Arduino Micro Specs

    D4: this low uncertainty results from the values were taken from Arduino manufacturer website

    E4: similarly, low uncertainty percentage corresponds with low margin

    B5: This value was taken from the maximum current draw of the 5V pin of the Arduino

    Link to Arduino Micro Specs

    C5: This value was taken from the result of the Servo Load Test

    Link to Servo Load Test

    D5: This uncertainty is low because we have done the test. Even though the expect current is different from the measured value, we have changed our PCB layout accordingly. In addition, the project allocation value is determined with this difference in mind.

    E5: This low margin is the result of low margin percentage

    E12: This is the spec from the battery chosen since we performed the Battery Discharge Test

    E13: we total the margin in mA

    E14: we total the expected current in mA

    E15: the formula for contingency = E12 – E13 – E14

    F12: This value is the capacity of the battery chosen from the Battery Discharge Test

    F13, F14: These values are computed by multiplying mA value with duration of the mission (0.2775 hours – requirement L1.3)

    F15: the formula for contingency = F12 – F13 – F14
    [/av_textblock]

    [av_heading heading=’Conclusion’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Due to the allocation value, we pick the 11.1V 2200mAh 3S LiPo because this battery will satisfy L1.3 and L2.3.1. This decision is the result of Battery Discharge Test.

    Link to Battery Discharge Test
    [/av_textblock]

  • S17 Prosthetic Arm: Critical Program Module/Firmware

    S17 Prosthetic Arm: Critical Program Module/Firmware

    [av_image src=’/wp-content/uploads/2017/05/SetUp1-2-300×225.png’ attachment=’25476′ attachment_size=’medium’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading heading=’Spring 2017 Prosthetic Arm: Critical Program Module/Firmware’ tag=’h3′ style=’blockquote classic-quote’ size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ padding=’10’ color=” custom_font=”]
    The Robot Company | CEO Professor Gary Hill
    [/av_heading]

    [av_textblock size=” font_color=” color=”]

    Blog Post Created by Project Manager | Bianca Esquivel

    Project Code Written By Electronics and Control Engineer | Mikael Movsisyan

    [/av_textblock]

    [av_heading heading=’Preliminary Information’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_icon_box position=’left’ boxed=” icon=’ue864′ font=’entypo-fontello’ title=’Design Objective’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    Purpose: To satisfy requirement L2.2.1 Wrist Rotation (System) – The prosthetic arm shall provide a 90 degree of rotation at the wrist (clockwise and anticlockwise) and requirement L2.2.2 EMG (System) – The Prosthetic Arm shall acquire input from at least one electromyographic sensor that detects electromyogram (EMG) signals from muscles in user’s upper arm or stump.
    [/av_icon_box]

    [av_heading heading=’Iterative Coding Process’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_icon_box position=’left’ boxed=” icon=’ue8bd’ font=’entypo-fontello’ title=’First Iteration’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    The first step was to control the action of a motor using an analog sensor and a MCU. A simple light-dependent voltage divider circuit was built with a photoresistor and the voltage across the photoresistor was fed as analog input to the MCU. A threshold analog input was selected, above which the motor would be turned. Below this value the motor was turned off. Below is the image of the set-up.

    The Arduino Code can be found at this link:

    https://drive.google.com/open?id=0B6kkqAMmUffrWFotYkRKSmp3S0U

    The conclusion from this simple test was that rotation of the wrist, using a servo as the actuator, can be controlled by an analog sensor such as the MyoWare EMG sensor. A threshold value (representing muscle contraction) can be selected above which the wrist will turn.
    [/av_icon_box]

    [av_toggle_container initial=’0′ mode=’accordion’ sort=”]
    [av_toggle title=’First Iteration Set Up’ tags=”]

    [/av_toggle]

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    [av_icon_box position=’left’ boxed=” icon=’ue8be’ font=’entypo-fontello’ title=’Second Iteration’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    The code was slightly altered to control a servo base on the analog input from the MyoWare EMG sensor. The Arduino code can be found at the link below:

    https://drive.google.com/open?id=0B6kkqAMmUffrajQ1QXZNekFTWXM

    This code was used to rotate the wrist of the rapid-prototyped arm model as shown below. With this code the wrist will turn clockwise when muscle is contracted and return to its original position when the muscle is relaxed.
    [/av_icon_box]

    [av_toggle_container initial=’0′ mode=’accordion’ sort=”]
    [av_toggle title=’Second Iteration Set Up’ tags=”]

    [/av_toggle]

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    [av_icon_box position=’left’ boxed=” icon=’ue8bf’ font=’entypo-fontello’ title=’Third and Final Iteration’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    Finite state machine code was added to ensure that wrist rotation was triggered by immediate muscle relaxation following muscle contraction had to occur to rotate wrist. The FSM was added to prevent wrist rotation when the muscle is contracted accidentally e.g. when the arm is bent. The link to the FSM code is shown below.

    https://drive.google.com/open?id=0B6kkqAMmUffrbTRQZnJfYzloUjg

    Purpose: To meet requirement L1-4 Safety – The operating temperature of the prosthetic arm shall not exceed 50 degrees C for safety reasons.

    Verification: Heat the sensor to 50oC and see if the MCU will shut itself down.

    In compliance with this requirement a power down sleep ISR code was obtained from the Arduino website. The MCU will be put to sleep whenever the analog input from the temperature sensor exceeds a threshold value corresponding to 50 degrees Celsius. A conditional statement was introduced such that the MCU will be put to sleep whenever the condition is met. The code for the sleep interrupt with the conditional statement can be found at the link below:

    https://drive.google.com/open?id=0B6kkqAMmUffrSnEwSjlTWTBCODQ
    [/av_icon_box]

  • S17 Prosthetic Hand: Critical Program Module/Firmware

    S17 Prosthetic Hand: Critical Program Module/Firmware

    [av_image src=’/wp-content/uploads/2017/03/ForceSens2-5-300×269.png’ attachment=’24371′ attachment_size=’medium’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading tag=’h3′ padding=’10’ heading=’Spring 2017 Prosthetic Hand: Critical Program Module/Firmware’ color=” style=’blockquote classic-quote’ custom_font=” size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    The Robot Company | CEO Professor Gary Hill
    [/av_heading]

    [av_textblock size=” font_color=” color=”]

    Blog Post Created By Project Manager | Bianca Esquivel

    Project Code Written By Electronics and Control Engineer | Forest Nutter

    [/av_textblock]

    [av_heading heading=’Hand PCB Code’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Hand Code by Forest Nutter | Electronics and Control Engineer

    Goal:

    The Code should be able to Read 3 Force Sensors, control 2 Motor Drivers that will control 3 DC motors, predict where the motors are using a timer, Read and send data from the xbee.

    Working

    The XbeeSR function was tested with the xbee shields and worked.

    The Code was able to control the DC motors through the Motors drivers.

    The Code was able to read 3 analog voltages from the Force Sensors.

    Problems

    The hand never worked, so majority of this code is untested and unfinished. Spent a lot of my time working on building the hand instead of coding it. I like to code projects that are complete so i can test my code as i go. Since this project was never finished I never went through that process.
    [/av_textblock]

    [av_toggle_container initial=’0′ mode=’accordion’ sort=”]
    [av_toggle title=’Hand Code 1′ tags=”]

    [/av_toggle]
    [av_toggle title=’Hand Code 2′ tags=”]

    [/av_toggle]
    [av_toggle title=’Hand Code 3′ tags=”]

    [/av_toggle]
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    [av_heading heading=’Foot PCB Code’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Foot Code by Forest Nutter | Electronics and Control Engineer

    Goal

    The Code should be able to control the speed of a vibrating motor based on signals from the hand, read 4 analog voltages from the flex sensors, determine what mode the foot is making based on the flex sensors, Send and receive data from the hand xbee.

    Working

    The XbeeSR function was tested with the xbee shields and worked.

    The modeSelector was working but the 5th mode was not implemented because of lack of time.

    The code can read 4 analog voltages from the flex sensors.

    Controlling the speed of a vibrating motor by using PWM and a npn transistor was breadboarded and tested. But was not fully implemented in the code because of lack of time.

    Problems

    The hand never worked, so majority of this code is untested and unfinished. Spent a lot of my time working on building the hand instead of coding it. I like to code projects that are complete so i can test my code as i go. Since this project was never finished I never went through that process.
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    [av_toggle_container initial=’0′ mode=’accordion’ sort=”]
    [av_toggle title=’Foot Code 1′ tags=”]

    [/av_toggle]
    [av_toggle title=’Foot Code 2′ tags=”]

    [/av_toggle]
    [/av_toggle_container]

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    [av_textblock size=” font_color=” color=”]
    Link to the Hand and Foot Code:

    Prosthetic Hand Code
    [/av_textblock]

  • S17 Prosthetic Hand: Custom PCB Layout Design

    S17 Prosthetic Hand: Custom PCB Layout Design

    [av_image src=’/wp-content/uploads/2017/05/Fig3Hand-1-255×300.png’ attachment=’25456′ attachment_size=’medium’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading tag=’h3′ padding=’10’ heading=’Spring 2017 Prosthetic Hand: Custom PCB Layout Design’ color=” style=’blockquote classic-quote’ custom_font=” size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ custom_class=”]
    The Robot Company | CEO Professor Gary Hill
    [/av_heading]

    [av_textblock size=” font_color=” color=”]

    Blog Post Created by Project Manager | Bianca Esquivel

    Project Design Created by Electronics and Controls Engineer | Forest Nutter and Manufacturing and Design Engineer | David Mendoza

    [/av_textblock]

    [av_heading tag=’h1′ padding=’10’ heading=’Preliminary Information’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_icon_box position=’left’ boxed=” icon=’ue864′ font=’entypo-fontello’ title=’Design Objective’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    In order to control the Hand on this project, it needs two Printed Circuit Boards (PCB) to be wirelessly communicating to each other. One of the PCBs will be placed in the arm and the other in a containment box attached to the customers ankle that would have flex sensors attached on the inside of their shoe.

    For the Hand PCB:

    Goal:

    To create a PCB that is small enough to fit in the Prosthetic Arm storage space. The PCB board should also be able to Connect to Arduino Micro, control the speed and direction of 3 DC motors independently, control a servo, read 3 flex sensors, and hook up to an Xbee to send and receive data.

    Working: (referring to the Hand+Arm PCB, but only the hand portion)

    The PCB is able to control 3 DC motors independently.

    The PCB is able to control 1 Servo.

    The PCB is able to read 3 Force sensors.

    Problems: (referring to the Hand+Arm PCB, but only the hand portion)

    The PCB was not able to send and receive data from the foot pcb.

    Since I accidentally returned the xbee shields to hill too early, I was not able to test

    (Arduino→ shield → xbee →(wireless) → xbee→ PCB→ Arduino). So I could not determine if the xbee Schematic didn’t work for this PCB.

    For the Foot PCB:

    Goal:

    To create a PCB that is smallest enough to be hidden near the right foot. The PCB board should also be able to connect to Arduino Nano, read 4 Flex Sensors, control 2 vibrating motor’s speed, and hook up to a xbee to send and receive data.

    Working:

    The PCB is able to read 4 Flex Sensors.

    The PCB did output a PWM for the vibrating motors (tested with oscilloscope) but the Voltage was too low likely because of the 3.3v line connected to the 5v line.

    Problems:

    3.3v label was connected to the Vcc pin of the xbee. I also had another label called Vcc that was connected to my 5v line. I didn’t know that the program would attach labeled wires to pin names. The reason this was fixed on the Hand+Arm schematic was because we changed all the labels so they would not conflict with each other. When the arduino was connected to the PCB it would start to overheat likely because of the 3.3v line being attached to the 5v line. The PCB board was designed to have the Arduino on the top and the xbee on the bottom to save space but neither of them got flipped so, they were both on the top. So even if the PCB did work We could only attach the arduino or the xbee to the board without using wires.

    This process is performed in response to requirement:

    L1-5 Independence

    The prosthetic hand shall be controlled by the customer without the aid of the other hand
    [/av_icon_box]

    [av_icon_box position=’left’ boxed=” icon=’ue856′ font=’entypo-fontello’ title=’Materials’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    Eagle CAD Software
    [/av_icon_box]

    [av_heading tag=’h1′ padding=’10’ heading=’Design Process’ color=” style=’blockquote modern-quote’ custom_font=” size=’20’ subheading_active=” subheading_size=’15’ custom_class=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Hand+Arm Schematic by Forest Nutter | Electronics and Control Engineer – Prosthetic Hand and Mikael Movsisyan | Electronics and Control Engineer – Prosthetic Arm

    Goal:

    Combine the Hand PCB with the Arm PCB to save space in the Arm’s storage space.

    Prosthetic Arm: Custom PCB Blog Post
    [/av_textblock]

    [av_toggle_container initial=’0′ mode=’accordion’ sort=”]
    [av_toggle title=’Hand PCB Schematic’ tags=”]

    [/av_toggle]
    [av_toggle title=’Hand & Arm PCB Schematic’ tags=”]

    [/av_toggle]
    [/av_toggle_container]

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    [av_textblock size=” font_color=” color=”]
    Foot PCB Schematic and Layout by Forest Nutter | Electronics and Control Engineer and David Mendoza | Manufacturing and Design Engineer:

    First Iteration:

    For the Layout of the Foot PCB, I took the schematic that was given to by Forest Nutter, the Electronics and Controls for the hand. Before I started laying out the Foot PCB, I had asked Forest to place certain components where he would like them at. Then I would place the, resistors, capacitors and transistors in what I thought were the best places. After routing everything and trying to hake everting connect and have 45 degree turns, I sent this, PCB Layout seen in Figure 1, to Fabian.

    Fabian Replayed with:

    Foot(1).brd 

    • Individual Traces should turn 45 degrees max. There are a lot of 90 degree turns on this one. 90 degree should only be used when joining a trace to another trace or starting the trace at an IC pad (see note below for Prosthetic PCB brd)
    • I cant tell by looking, but make sure the pads of the surface mount ICs are a littler longer than the datasheet specifies so that you have an easier time hand soldering it. You want some extra copper to hit with the tip of the iron.
    • Use CIRCLE, 0.019 inch vias
    • Unused GPIO (D0, D1, D2…) and analog (A0, A1, A2…) should be tied to ground
    • Do a ground copper pour on the bottom layer. Copper pour perimeter on top is skewed at the bottom right side.

    Second Iteration:

    After reading this I would go and make a few changes to the layout and more components around some more. Now every time I would run the DCR and see it there was any angle problem, clearance or overlaps, that caused be to move a routing line or component, I would then ripup the line and redraw it so that it still had the 45 degree angle. After I made these changes I would send the second version, shown in figure 2, to Fabian.

    Fabian replied with:

    Foot:

    – only 45 degree angles (Use sparkfun drc(attached))

    – round vias

    – way to much wasted space

    After reading this, I ripped up the routing lines connecting the components and moved them closer together to eliminate wasted space. Then before routing everything I made sure to change the vias setting to round with a .6 millimeter radius. As I was routing everything I made sure to only use the setting that would give me 45 degree angles. I would send Fabian the final version of the foot PCB layout, shown in figure 3.
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    [av_toggle title=’Foot PCB Schematic’ tags=”]

    [/av_toggle]
    [av_toggle title=’Figure 1′ tags=”]

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    [av_toggle title=’Figure 2′ tags=”]

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    [av_toggle title=’Figure 3′ tags=”]

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    [av_heading heading=’Results’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    After the third version was sent, I had received an email from Fabian that the PCB could have looked better but he approved of it to be shipped out and manufactured. Once the PCB came in, it was soldered and tested, the test failed, and the PCB did not work.
    [/av_textblock]

    [av_heading heading=’Conclusion’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_textblock size=” font_color=” color=”]
    Even though the PCB Layout was good enough to be approved by Fabian, it still should have been double checked by the E&C if there was any schematic problems. With the Layout part it is best to work together with the E&C in asking where they would like certain components to be placed and then optimize from there and move things as close as possible. Also make sure that there is still enough room to run the wires through with out and errors.
    [/av_textblock]

  • S17 Prosthetic Arm: Custom PCB Layout Design

    S17 Prosthetic Arm: Custom PCB Layout Design

    [av_image src=’/wp-content/uploads/2017/05/PCB-Final-Layout-300×187.png’ attachment=’25420′ attachment_size=’medium’ align=’center’ styling=” hover=” link=” target=” caption=” font_size=” appearance=” overlay_opacity=’0.4′ overlay_color=’#000000′ overlay_text_color=’#ffffff’ animation=’no-animation’][/av_image]

    [av_heading heading=’Spring 2017 Prosthetic Arm: Custom PCB Layout Design’ tag=’h3′ style=’blockquote classic-quote’ size=’24’ subheading_active=’subheading_below’ subheading_size=’15’ padding=’10’ color=” custom_font=”]
    The Robot Company | CEO Professor Gary Hill
    [/av_heading]

    [av_textblock size=” font_color=” color=”]

    Blog Post Created By Project Manager | Bianca Esquivel

    Project Design Created by Electronics and Control Engineer | Mikael Movsisyan and Manufacturing and Design Engineer | Cedric Yannick Mbetga

    [/av_textblock]

    [av_heading heading=’Preliminary Information’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_icon_box position=’left’ boxed=” icon=’ue864′ font=’entypo-fontello’ title=’Design Objective’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    Aim: To satisfy L1.5 Custom PCB Requirement – The prosthetic arm shall implement a custom printed circuit board (PCB) that incorporates a complexity of design, implementing at least 2 layers, and includes the use surface mount components.

    In compliance with with Requirement L1.7 Length – The prosthetic arm shall not exceed the length of 26 cm (User’s arm length – measured in class), the Prosthetic Limb group (following approval from Professor Hill) has decided to design and layout a single PCB board. This PCB board will host the circuit components, according to the electronic design requirements of the Prosthetic Arm and Prosthetic Hand groups. The PCB layout was done in EagleCAD.   
    [/av_icon_box]

    [av_icon_box position=’left’ boxed=” icon=’ue856′ font=’entypo-fontello’ title=’Materials’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    Eagle CAD Software
    [/av_icon_box]

    [av_heading heading=’Iterations of the PCB Layout’ tag=’h1′ style=’blockquote modern-quote’ size=’20’ subheading_active=” subheading_size=’15’ padding=’10’ color=” custom_font=”][/av_heading]

    [av_icon_box position=’left’ boxed=” icon=’ue8bd’ font=’entypo-fontello’ title=’First Iteration’ link=” linktarget=” linkelement=” font_color=” custom_title=” custom_content=” color=” custom_bg=” custom_font=” custom_border=”]
    This Prosthetic Arm PCB consists of a LM34 analog Temperature Sensor connected to an analog pin of the Arduino Micro MCU, LT3975-1 Buck Converter, one 2-pin and four 3-pin JSTs, two terminal blocks, a 220 Ohm and a 49.9kOhm resistor, 0.47uF, 4.7uF and 22uF capacitors, a SLF7045 inductor, and a BAT54 Schottky diode.

    The original trace widths were 0.3mm. The PCB additionally has a top GND plane (Red) and a bottom power plane from the 5V of the Arduino Micro MCU, as shown below.

    The LT3975-1 Buck Converter IC is used to step down input voltage of 11.1V to 5V to drive the servos. The servos (hand and arm) will be connected to of the 3-pin JSTs. The other two 3-pin JSTs are used as a back-up in the case of faulty operation of the Buck during testing and mission run. The 2-pin JST is to be connected to an LED, which will be secured on the outside of the arm to notify the user when there is power supplied i.e. ON. The LM34 is connected to an analog pin of the MCU to which it provides analog readings of temperature.
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    In the second iteration of the pcb circuit layout protection elements were introduced, namely the 3A hold current polyfuse from the input source to the motor drivers and the 1.25A hold current polyfuse from the input source to the buck converter LT3971-5. In addition, a series of vias were added around the buck converter to act as a heat sink. Finally, a 10pF decoupling capacitor was added to the LM34 (per the datasheet layout instructions) and a 10uF decoupling capacitors were added at the source and at the input to the motor drivers.
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    Following recommendations from Fabian Suske and Professor Hill, additional circuit protection components were added to the final circuit schematic, namely polyfuses and decoupling capacitors at the input source and to both IC inputs. The schematic above shows the schematic of the Prosthetic Arm group only.

    Below is the link to the Prosthetic Limb (Arm + Hand PCB)

    https://drive.google.com/open?id=0B6kkqAMmUffraGpHX0t5Mno0YnM
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