Project Readiness Review P10029 – Air Muscle Artificial Limb Zachary R. Wessner (M.E.) May 13, 2009

Project Information Project Name Air Muscle Artificial Limb Project Number P10029 Project Family Artificial Organ Track Biomedical Systems and Technologies Start Term 2009-1 End Term 2009-2 Faculty Guide / Primary Customer Dr. Kathleen Lamkin-Kennard(ME) - Confirmed Faculty Consultant Ed Hanzlik (ME) - Confirmed Air Muscle

Mission Statement: Project Family: Objective What: Scalable Robotic Hand [powered by air muscles] Intuitive Control System Why: Microsurgical Applications Large Scale Industrial Maintenance Variety of Usable Environments

Project Family: Overview (P08023)- Three finger hand (left) (P08024)- Five finger grasping hand (center) (P09023)- Five finger hand platform (right) (P09029)- Simulated control model - wrist and elbow

Mission Statement: P10029: Objective What: Continuation on P09023 / P09029 Qualitative (visual) → Quantitative (measurable) Improved Control System: Feedback / User Interface Why: Increased Knowledge Research Platform Future Projects: Application Oriented Design - Scalability Image sources: P09023 / P09029

Affinity Diagram: Data Collection Raw Data Collection MSD Teams Leaks in Air Muscles Feedback Control Covering of Hand Goal - ASL Imagine RIT Technical Guide Systems Engineering Calibration Measure of Success Metrics Customer Project Family Vision Next Iteration Feedback Virtual Simulation Testing Controls Competitive Benchmarking Control Utility Degrees of Freedom Accuracy of Movements Size

Function Tree: What does this project need to do? Research Platform Controls System Interface Development Feedback Loop Physical Functionality Characterization Virtual Simulation Verification

System Overview Image Source: P09023

Data Acquisition Overview Image Source: P09023

Work Distribution - System Level High Control System Medium Data Acquisition Low Physical Hand System

Measure of Success Set Based Concurrent Approach: User Input Function Library Control System Output Verification Final Goal: Function Accuracy Feedback Intermediate Goal: Positional Accuracy First Goal: Consistent Functionality

Proposed Function Concept

Staffing Name Discipline Responsibility Zach Wessner Mechanical Engineering Project Manager - Controls System (Controls Background / LabView) Electrical Engineering Controls System (Programming) Virtual Simulation (SolidWorks / LabView) (Systems Engineer) Interface Development

Required Resources Project Space Meeting Space - Senior Design Center (need to submit request) Laboratory Space - Building 9 Biomedical Lab (confirmed) Time MSD1 & MSD2 - 22 Week Development 20091 / 20092 (Fall / Winter) Funding Project Budget = $500 (confirmed) Equipment / Assets P09023 Physical Prototype (confirmed) P09023 / P09029 Programs / Documentation (confirmed) SolidWorks / LabView software license seats (confirmed) Mechatronics Software Toolkit / SolidWorks COSMOSmotion (confirmed) Computers (2) - (confirmed) Spare Parts / Air Muscles (confirmed) Personnel Five Member Multidisciplinary Team (TBA) M.E. (4) E.E. (1) Customer / Faculty Guide : Dr. Lamkin-Kennard (confirmed) Technical Guide: Ed Hanzlik (confirmed)

Work Break Down Structure Controls System Exploration Benchmarking Concept Generation Virtual System Define Scope Physical System Repair / Modifications Week 1 Week 2 Week 3 System Architecture Plan (Concurrent Design Strategy) Week 4 M.E. / E.E. M.E.

Risk Assessment Description Consequences Probability Severity Overall Risk Contingency Plan Understaffed Deadlines not met, project not successful M H Establishing a lean staffing request in addition to equal distribution of workload and proactive planning. Physical Prototype Breaks Half of the research platform does not function L Rebuild using readily available components. Utilize virtual model for controls evaluation. Hand can not perform ASL A new function library must be generated. Evaluate physical capabilities early, plan a set-based concurrent architecture within the project. Use functions the physical prototype is capable of performing.

References P09023 P09029 Dr. Lamkin-Kennard Ed Hanzlik