1. SDIIProjectReviewRev-.doc1 Jonathan KasperProject Manger (ME) Jenna FikeLead Engineer (EE) Matt LewisDesign Lead (ME) Josa HanzlikMechanical Engineer Ellen CretekosMechanical Engineer Nick RappaMechanical Engineer Eric GiangElectrical Engineer Mark McKannMechanical Engineer P08023: Air Muscle Artificial Limb Sponsor: Dr. Kathleen Lamkin-Kennard

2. P08023: Project Description Project Statement: “Develop a Scalable Robotic Limb that Accurately Models All Degrees of Freedom of Human Fingers.” Market: RIT Biomechanical Program Showcase for New Technology Key High Level Needs / Engineering Specs Realistic Finger Motions4 DOF in Fingers # Tendons, # Muscles ReliabilityFinger Displacement, +/- 3% Low CostAir Muscle = $3 approx. Control RepeatabilitySupplied Air Pressure 60 psi. Reliability & ServiceabilityAir Muscle Life Span SDIIProjectReviewRev-.doc2

3. Design/Build Concept Summary Hand Material Fasteners Tendon Cable Tendon Hardware Return Ligament Cable Pneumatic Fittings SDIIProjectReviewRev-.doc3

4. Air Muscle Concept Summary Mesh Material Tube Material Air Side Connector Plug SDIIProjectReviewRev-.doc4

5. Controls Concept Summary Control Software Data Acquisition System Relay Board Valves Feedback Sensor SDIIProjectReviewRev-.doc5

6. P08023: System Architecture SDIIProjectReviewRev-.doc6 LabVIEW DAQ Pressure Valves Air Muscles Artificial Hand

7. P08023: Final Design SDIIProjectReviewRev-.doc7

8. Design/Build Summary SDIIProjectReviewRev-.doc8 Push-to-Connect Fitting Berkley Steelon Wire Aluminum Elastic Shock Cable Berkley Cable Hardware Cotter Pins Standard Rubber Band

9. Air Muscle Summary SDIIProjectReviewRev-.doc9 Push-to- Connect Fitting Eye Hook PET Mesh 1/8” ID Rubber Tube

10. Controls Summary SDIIProjectReviewRev-.doc10 DAQ Relay Board Solenoid Valves Linear Potentiometer

11. Air Muscle Testing Results SDIIProjectReviewRev-.doc11 Abduction/Adduction  2.5in Flexion  7in Preload variability is less then manufacturing variability Applied preload will not effect air muscle output

12. Oh No You D’nt SDIIProjectReviewRev-.doc12

13. WOW SDIIProjectReviewRev-.doc13

14. Incremental Motion

15. System Testing Each finger was tested to verify flexion and ab/adduction motions: Individual Flexion Cycling Flexion (x 20) Individual Abduction Cycling Abduction (x 20) Individual Adduction Cycling Adduction (x 20) Consecutive Motion Flexion Consecutive Motion Abduction Consecutive Motion Adduction Incremental Flexion Motion SDIIProjectReviewRev-.doc15

16. Test Results No finger breakage was observed No strain on finger/ligament/muscle Smooth incremental movement No abnormal delays between interface and actuation Fingers do not contact palm Fingers collide, does not affect motion SDIIProjectReviewRev-.doc16

17. Project Evaluation Successes: Fluid motion of finger extension Incremental flexion motion achievable within 7% Ease of serviceability Shortcomings: Simultaneous manipulation of fingers not possible Collisions between fingers Fingers do not contact palm SDIIProjectReviewRev-.doc17

18. Future Work Addition of Pinky and Thumb Finger Design Improvement Manipulation of Multiple Fingers Simultaneously Integrated Grasping Capability Tactile Feedback Reduced Air Muscle Variability Extended Air Muscle Life SDIIProjectReviewRev-.doc18

19. Special Thanks Dr. Kathleen Lamkin- Kennard Mr. John Wellin Mr. Scott Kennard Dr. Steven Day Dr. Matthew Marshall Mr. William Scarbrough RIT New Faculty Development Grant Mr. Edward Hanzlik Mr. David Hathaway Dr. Mark Kempski Mr. Robert Kraynik Mr. Steven Kosciol Mr. Jonathan Niebielski.