B Loo D RAGÜ Amar Bhatt, Luke Gerard Boudreau, Lydia Hays, Felipe Petroski Such
Needs Statement One million Americans and over 10 million individuals worldwide live with Parkinson’s, 15 out of every 100,000 American males aged 5-24 are affected by muscular dystrophy, and 30,000 Americans currently have Lou Gehrig’s disease. All these diseases cause muscle weakness and shaking through neuron or muscle damage. There is no cure, and they severely limit the capabilities of the user. One method of reducing tremor is to apply electrical impulses to the brains of Parkinson's patients. Another method is to use a self-stabilizing spoon so that patients can eat without spilling their food. The first method only works on a specific disease and the second method only works on a specific task. A general system is needed that can stabilize a user's motion to facilitate a variety of tasks. 2
Needs/Marketing Requirements 1. The system must provide augmented capabilities by providing controlled and accurate movement, specifically those affected by involuntary muscle movements. 2. The system must control the robotic arm through natural, simple motions when accomplishing simple tasks. 3. The system must be strong enough to pick up simple objects like pencils and small wooden blocks. 4. The system should have a reach similar to a human’s arm. 5. The system should allow for easy configuration of arm and hand gestures for different tasks. 6. The system must operate under different modes that provide different capabilities to the user e.g. painting, stacking, etc. 7. The system must be able to grab and manipulate small objects. 3
Engineering Specifications Marketing Engineering Requirements Justification Requirements 1,7 A. The system must be able 5 mm of precision allows for the arm to to interact with objects with a pick up and place a pencil accurately. resolution of 5 mm. 3 B. The arm must be able to A glass of water is difficult for those with pick up and hold a standard involuntary muscle movements to hold glass containing 8oz of water without spilling. when fully extended. 5,6,7 C. The system must allow for The user gestures required should be mapping of hand and arm an extension of the user’s natural arm gestures to specific and hand manipulations. This minimizes commands. the amount of learning the user requires to manipulate the arm. 4 D. The arm’s reach must be Typical hands-on work is done between 4 at least 12” from its base. 4” and 15” from the user’s torso.
Engineering Specifications Cont. Marketing Engineering Requirements Justification Requirements 2,6,7 E. Human gestures must control Reflection of actual arm the orientation and movement of movements is the most natural, the arm. and easiest to learn from a user’s perspective. 6 F. The system must contain The arm will have different modes operation commands to change for different tasks. The user operation mode and must provide feedback is to help simulate the feedback to the user. manipulation of the arm to provide helpful context to the user. 7 G. The system must contain a In order to provide functionality mechanism that allows it to grab similar to a human hand the and manipulate an object. system must allow the location and orientation of objects to be changed. 5
Design Concepts (Design) Arm ● ○ Degrees of Freedom Control Interface and Programming Freedom ○ ○ Size Strength ○ ● Sensor ○ Input (Gyroscope, Accelerometer, EMG…) ○ Communication ○ Output Interface ○ Myo Gesture Arm Band, EMG System, X-Box Kinect, Leap Motion ● Controller Communication ○ ○ Programmability Peripherals (PWM, ADC, GPIO…) ○ ○ Speed/Time K64, Arduino, Raspberry Pi, Intel Compute Stick ○ 6
System Architecture 7
System Architecture 8
System Architecture 9
System Architecture 10
System Architecture Control System ● PID Helps to perform fine movements ○ ○ Helps improve accuracy Removes jitter ○ ● Rigidness ○ Free Mode - Arm acts as if it were in free space ○ Grid Mode - Arm acts as if it were guided by a grid ○ Normal Mode - Arm will slowly match user’s movement 11
Bill of Materials Item Cost Our Cost Lead Time SainSmart 6-Axis Control Palletizing Robot Arm Model, $103.98 $103.98 3 Weeks SKU:20- 014-310 SainSmart InstaBots Robot Controller Shield for $16.24 $16.24 3 Weeks Arduino MEGA2560 R3 Robot Arm Control, SKU: 20-011-409 SainSmart Rotatable Platform for Robotic Arm, $17.99 $17.99 3 Weeks SKU:20-014-312 Myo gesture arm band $200 $0 2 Weeks USB dongle $20 $0 1 Week Laptop $500 $0 1 Week NXP FRDM-K64F $35.00 $0 1 Week JBtek HC-06 Bluetooth to UART Converter $7.99 $7.99 1 Week Total $901.20 $146.20 3 Weeks 12
User Interface 13
Gantt Chart 14
Risks Component Risk Mitigation Servos Servos precision under load Different modes with different control theory might not be enough to meet algorithms and parameters should provide the Eng. Requirements. enough flexibility for most problems. Servos The servos might not be The servos could be replaced with more powerful enough when the arm powerful/precise servos. is fully extended. Sensors Sensor’s precision and Instead of using a custom sensor or camera latency. based systems ( Kinect ) we are using a fully developed product ( MyoBand ) with fast and precise sensors. Control System Latency, precision, A simple PID implementation with customizable development time parameters should provide low latency and fast development while maintaining application flexibility. 15
Test Plan: Unit Name Description Status Out of the Box Test Verify that the Myo armband functions as advertised using DONE only the Myo software. Checks that the gestures are recognized. Myo Raw Data Test Verify that the raw data from the armband matches user DONE movements. Control System Noise Test Verify that the control system is able to remove noise from the input signal coming in from the MyoBand. Control System PID Test Verify that the control system is able to mitigate hardware limitations with a PID controller. PWM Generation Verify the production of six independent PWM signals with DONE different duty cycles. Basic Serial Communication Verify Serial data communication over UART. The transmitted data is intended to modify the duty cycles of the PWM signals. 16
Test Plan: Unit Name Description Status Serial Communication over Verification that the Bluetooth to serial adapter is able to send Bluetooth and receive data. Zzxczxcsdfasdf Motor Shield Compatibility Verify the compatibility between the microcontroller and motor DONE shield, and ensure that the PWM signals are brought up to the correct voltage. Motor Movement Controlling the motors on the arm with function generator to DONE determine movement. Motor Movement with Motor Controlling the motors on the arm with motor control board to DONE Control Board determine movement. Multiple Motor Movement Controlling multiple motors on the arm with motor control with Motor Control Board board to determine movement. 17
Test Plan: Integration Name Description Status Arm Movement The movement of the arm should be accurate when compared to the movements of the Myo gesture band. This test will determine if the robotic arms movement in space is correct with respect to user movements. Rapid Movement In the case where the user rapidly moves their arm, the robotic arm should respond in a controlled manner Configuration Test The user needs to be able to change the PID parameters and map gestures to commands. Robotic Arm Grip The user needs to be able to grab objects with the arm, and this test verifies the ability of the robotic arm to hold objects. 18
Test Plan: Acceptance Name Description Status Precision The system must be able to interact with objects within 5mm of precision (A). Strength The system must be able to pick up and hold objects with liquid weighing up to 6oz when fully extended (B,G). Intuitive Gestures The system must allow for mapping of hand and arm gestures to specific commands (C,E) Human Reach The systems reach must be at least 12” from the center of its base (D). Visual Feedback The system must contain operation commands to change mode and must provide feedback to user (F). 19
QC 3 S (Questions/Comments/Concerns/ Complaints/Suggestions?) 20
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