1. University of Pennsylvania 1 GRASP Design of Customized Articulated Assistive Devices Peng Song Graduate Student University of Pennsylvania Venkat Krovi Assistant Professor McGill University Vijay Kumar Professor Mechanical Engineering University of Pennsylvania Philadelphia G. K. Ananthasuresh Assistant Professor University of Pennsylvania GRASP Laboratory

2. University of Pennsylvania 2 GRASP Manufacturing paradigm l 1900’s: Mass production and fixed automation l 1980’s: Flexible automation, agile manufacturing l 1990’s: Mass customization Design and manufacturing: customization l 2000’s: Customized design and manufacture t Human-worn products (helmets, hearing aids, eye-glasses, wearable computers t Human-worn assistive devices for manipulation

3. University of Pennsylvania 3 GRASP Passive, Customized, Assistive Devices Adjustable Programmable Versatile Adaptable with time Design Tradeoff l Adjustable t Larger lot sizes t Life cycle design l General Purpose t Larger lot sizes t Multifunctional l Customized to specific user t Product volume is one t Better performance

4. University of Pennsylvania 4 GRASP MANUS: Wheelchair mounted robot arm DEVAR: Desktop robot for office environments RAID: Robot workstation for vocational support Robots as Assistive Devices Helping hand Sidekick Handy 1

5. University of Pennsylvania 5 GRASP Robotic aids l Versatile, general purpose 5 Expensive 5 Awkward, bulky; a “distraction factor” 5 Lack of proprioceptive feedback The real need l Passive, possibly power-assisted l Physically linked to the user l Inexpensive 5 Less versatile Robots as Assistive Devices

6. University of Pennsylvania 6 GRASP Assistive Devices for Feeding Handy I Winsford Feeder

7. University of Pennsylvania 7 GRASP Examples of One-of-a-kind Human Worn Assistive Devices

8. University of Pennsylvania 8 GRASP Head Controlled Feeder

9. University of Pennsylvania 9 GRASP Wearable Robot l Head-controlled l Four-degrees of freedom l Maps head movements into the movements of the arm

10. University of Pennsylvania 10 GRASP Customized Design and Manufacture Keys to cost effective customization l Automated data acquisition t measurement of the human user, the task, and the environment. l Automated synthesis, optimization, and optimization of mechanisms t mechanism for generating the desired “output” motion/force from the specified human “input” motion/force l Virtual design and prototyping t Geometric and dynamic modeling of the human user t Model of the designed product t Simulation of the human using the product prior to fabrication

11. University of Pennsylvania 11 GRASP Mechanism Design Input Subsystem Effector Subsystem Coupling Subsystem Human Input Motion/Force Desired Output Motion/Force

12. University of Pennsylvania 12 GRASP Choice of Mechanisms: Type Synthesis Input Subsystem Effector Subsystem Coupling Subsystem Human Input Motion/Force Desired Output Motion/Force Effector Toolbox Coupling Toolbox Input Toolbox

13. University of Pennsylvania 13 GRASP Dimensional Synthesis and Optimization Example: Use of head pitch movement to control the orientation of the feeding utensil l Parameterization of motions l Optimal choice of linkage parameters

14. University of Pennsylvania 14 GRASP Design Environment t Unified framework for design, analysis, and simulation t Graphical, user-friendly. t Heterogeneous data. t Modular, standard packages/formats.

15. University of Pennsylvania 15 GRASP Hand drawn curve Examples of Paths Generated by a Three-Link Planar SDCSC Scalene triangle l M=9 evenly spaced precision points l Number of equations = 26

16. University of Pennsylvania 16 GRASP Kinetostatic Synthesis of SDCSC Mechanisms l M=2 precision points l 6-M = 4 free choices l Two boundary conditions on torque l Two free variables for optimization Position 1 Position 2

17. University of Pennsylvania 17 GRASP Three Point Position Synthesis l M=3 precision points l 6-M = 3 free choices l Three free variables for optimization 1 N force

18. University of Pennsylvania 18 GRASP Three Point Position Synthesis l 5 free variables for optimization l Desired trajectory l Trajectory generated by a candidate mechanism l Goal:

19. University of Pennsylvania 19 GRASP Summary Key Ideas l Passive, articulated aids in rehabilitation engineering l One-of-a-kind products customized to individual users l Virtual prototyping is absolutely essential for the manufacture of one-of-a-kind products Contributions l New paradigm for design and prototyping of assistive devices t Design interface for virtual design and prototyping t Creating synthetic prototypes of the user “wearing” the product l Theory for coupled serial chain mechanisms