Needs Statement One million Americans and over 10 million - - PowerPoint PPT Presentation

BLooDRAGÜ

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
• f 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.

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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.

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Engineering Specifications

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Marketing Requirements Engineering Requirements Justification 1,7

• A. The system must be able

to interact with objects with a resolution of 5 mm. 5 mm of precision allows for the arm to pick up and place a pencil accurately. 3

• B. The arm must be able to

pick up and hold a standard glass containing 8oz of water when fully extended. A glass of water is difficult for those with involuntary muscle movements to hold without spilling. 5,6,7

• C. The system must allow for

mapping of hand and arm gestures to specific commands. The user gestures required should be an extension of the user’s natural arm and hand manipulations. This minimizes the amount of learning the user requires to manipulate the arm. 4

• D. The arm’s reach must be

at least 12” from its base. Typical hands-on work is done between 4” and 15” from the user’s torso.

Engineering Specifications Cont.

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Marketing Requirements Engineering Requirements Justification 2,6,7

• E. Human gestures must control

the orientation and movement of the arm. Reflection of actual arm movements is the most natural, and easiest to learn from a user’s perspective. 6

• F. The system must contain
• peration commands to change
• peration mode and must provide

feedback to the user. The arm will have different modes for different tasks. The user feedback is to help simulate the manipulation of the arm to provide helpful context to the user. 7

• G. The system must contain a

mechanism that allows it to grab and manipulate an object. In order to provide functionality similar to a human hand the system must allow the location and orientation of objects to be changed.

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

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System Architecture

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System Architecture

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System Architecture

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System Architecture

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System Architecture

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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

Bill of Materials

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Item Cost Our Cost Lead Time SainSmart 6-Axis Control Palletizing Robot Arm Model, SKU:20- 014-310 $103.98 $103.98 3 Weeks SainSmart InstaBots Robot Controller Shield for Arduino MEGA2560 R3 Robot Arm Control, SKU: 20-011-409 $16.24 $16.24 3 Weeks SainSmart Rotatable Platform for Robotic Arm, SKU:20-014-312 $17.99 $17.99 3 Weeks 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

User Interface

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Gantt Chart

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Risks

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Component Risk Mitigation Servos Servos precision under load might not be enough to meet the Eng. Requirements. Different modes with different control theory algorithms and parameters should provide enough flexibility for most problems. Servos The servos might not be powerful enough when the arm is fully extended. The servos could be replaced with more powerful/precise servos. Sensors Sensor’s precision and latency. Instead of using a custom sensor or camera based systems ( Kinect ) we are using a fully developed product ( MyoBand ) with fast and precise sensors. Control System Latency, precision, development time A simple PID implementation with customizable parameters should provide low latency and fast development while maintaining application flexibility.

Test Plan: Unit

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Name Description Status Out of the Box Test Verify that the Myo armband functions as advertised using

• nly the Myo software. Checks that the gestures are

recognized. DONE Myo Raw Data Test Verify that the raw data from the armband matches user movements. DONE 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 different duty cycles. DONE Basic Serial Communication Verify Serial data communication over UART. The transmitted data is intended to modify the duty cycles of the PWM signals.

Test Plan: Unit

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Name Description Status Serial Communication over Bluetooth Verification that the Bluetooth to serial adapter is able to send and receive data. Zzxczxcsdfasdf Motor Shield Compatibility Verify the compatibility between the microcontroller and motor shield, and ensure that the PWM signals are brought up to the correct voltage. DONE Motor Movement Controlling the motors on the arm with function generator to determine movement. DONE Motor Movement with Motor Control Board Controlling the motors on the arm with motor control board to determine movement. DONE Multiple Motor Movement with Motor Control Board Controlling multiple motors on the arm with motor control board to determine movement.

Test Plan: Integration

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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.

Test Plan: Acceptance

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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).

QC3S

(Questions/Comments/Concerns/ Complaints/Suggestions?)

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