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

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

3. 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

4. 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

5. 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

6. 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

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

8. System Overview
Image Source: P09023

9. Data Acquisition Overview
Image Source: P09023

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

11. 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

12. Proposed Function Concept

13. 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

14. Required Resources Project Space
Meeting Space - Senior Design Center (need to submit request)
Laboratory Space - Building 9 Biomedical Lab (confirmed)
Time
MSD1 & MSD Week Development
20091 / (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)

15. 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.

16. 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.

17. References
P09023
P09029
Dr. Lamkin-Kennard
Ed Hanzlik