Mouhyemen A Khan Arian Yusuf Ahmed Ragheeb Nouran Mohamed Mentor Dr Beena Ahmed Overview Project Background Project Progress Project Background HISTORICAL REVIEW CONCEPT GENERATION ID: 779162
Download The PPT/PDF document "Tele-Operated Robotic Hand with Sensor G..." is the property of its rightful owner. Permission is granted to download and print the materials on this web site for personal, non-commercial use only, and to display it on your personal computer provided you do not modify the materials and that you retain all copyright notices contained in the materials. By downloading content from our website, you accept the terms of this agreement.
Slide1
Tele-Operated Robotic Hand with Sensor Glove
Mouhyemen A. Khan Arian Yusuf
Ahmed
Ragheeb
Nouran Mohamed
Mentor: Dr.
Beena
Ahmed
Slide2Overview
Project Background
Project Progress
Slide3Project Background
HISTORICAL REVIEW
CONCEPT GENERATION
CUSTOMER NEEDS
BENCHMARKING ANALYSISFUNCTIONAL MODELLING
Slide4Historical Review
Sayre Glove
Developed by Thomas de
Fanti
& Daniel Sandin Fiber Optic GloveDeveloped by Visual Programming Language Inc.
Power GloveDeveloped by Mattel Intellivision
Cyber GloveDeveloped by James Kramer 1977
19871992
1989
1997
Human Glove
Developed at
Humanware
Srl
2000 - Present
5DT Data Glove
by Fifth Dimension Technologies
Pinch Glove
by
Mapes
1983
Digital Entry Data Glove
Developed by Gray Grimes
Slide5Limitations & Challenges Cloth SupportPoor Durability
Need of Calibration
High Cost
Slide6Problem StatementCurrent products are expensive
Slide7Our AimVersatile
Cheap
Long Range
Good functionality
Slide8Semester Tasks
HISTORICAL REVIEW
CONCEPT GENERATION
CUSTOMER NEEDS
BENCHMARKING ANALYSISFUNCTIONAL MODELLING
Slide9Concept Generation
Slide10Concepts
Weights
B
C
D
Score
Weighted
Score
Score
Weighted Score
Score
Weighted Score
Configurability
5%
5
0.25
3
0.15
1
0.05
Cost
10%
3
0.3
3
0.3
5
0.5
Performance Speed
10%
5
0.5
5
0.5
5
0.5
Security
15%
3
0.45
2
0.3
3
0.45
Mass + Volume
15%
5
0.75
3
0.45
5
0.75
Safety
10%
2
0.2
3
0.3
3
0.3
Range
20%5110.210.2Reliability5%30.1530.1530.15Comfort5%30.1540.240.2Maintenance5%30.1540.210.05Total100%373.9312.75283.15 Rank132 ContinueYesNoNo
Concept Scoring
Slide11Semester Tasks
HISTORICAL REVIEW
CONCEPT GENERATION
CUSTOMER NEEDS
BENCHMARKING ANALYSISFUNCTIONAL MODELLING
Slide12Customer Needs
Slide13Customer Needs (Continued)
Slide14Semester Tasks
HISTORICAL REVIEW
CONCEPT GENERATION
CUSTOMER NEEDS
BENCHMARKING ANALYSISFUNCTIONAL MODELLING
Slide151 .
Vhand
Glove 3.0
2 .
CyberGlove
3
.
AcceleGlove
4
. P5 Glove
5 . 5DT Glove
Slide16Competitor
Products
DG5-VHand Glove 3.0
CyberGlove II5DT Data Glove
P5 Glove
AcceleGlove
Sensor Glove(OURS)
Number of Sensors
8
18
7
7
6
5 + 5
Sensor Data Rate
Customizable
Fixed
Fixed
Fixed
Fixed
Customizable
Operating Temperature
0 -50˚C
10 - 45˚C
S.T.P
S.T.P
S.T.P
S.T.P
Devices supported in each environment
>2
6 (maximum)
1
1
1
1
Operating system
Windows
Windows
Windows 32 bit DLL
Windows Only
All
Windows
Wireless Technology
WiFi
WiFi
Bluetooth
Wired
Bluetooth
Zigbee
Battery Duration
6 hours
3 hours
8 hours
Not Needed
6-12 hours
D.K.
Battery Charger
Internal
External
Internal
Nil
External
ExternalOperating Range< 10 m15 m20 m1.22 mN.S90 -100 mInterfaceMicro USBUSBUSB/BluetoothUSBUSBUSBWeightUnknownUnknownUnknown127 grams111 grams< 125 gramsPrice$585$ 12,295$1495$49.99$500< $250Haptic FeedbackNoNoNoNoNoYesSoftwareC ++ Own LanguageCBenchmarking
Slide17Semester Tasks
HISTORICAL REVIEW
CONCEPT GENERATION
CUSTOMER NEEDS
BENCHMARKING ANALYSISFUNCTIONAL MODELLING
Slide18Functional Modeling of Concept
Slide19Slide20Overview
Project Progress
Project
Background
Slide21Project Progress
CIRCUIT DESIGN
PCB DESIGN
GLOVE DESIGN
ROBOTIC HAND TESTINGTIMELINE
Slide22Single Sensor-glove Finger
COMPONENTS
ARDUINO BOARD (1 only)
XBEE BOARD
FLEX SENSORVIBRATION MOTOR
Slide23Flex Sensors Circuitry
Slide24Single Robotic-hand Finger
COMPONENTS
ARDUINO BOARD (1 only)
XBEE BOARD
PRESSURE SENSORSERVO MOTOR
Slide25Robotic Hand Circuitry
Slide26Project Progress
CIRCUIT DESIGN
PCB DESIGN
GLOVE DESIGN
ROBOTIC HAND TESTINGTIMELINE
Slide27PCB Design – in progress
PWM
VCC
GND
Slide28Project Progress
CIRCUIT DESIGN
PCB DESIGN
GLOVE DESIGN
ROBOTIC HAND TESTINGTIMELINE
Slide29Sensor Glove Designs
Flex Sensors
Control Unit
Vibration Motors
Slide30Robotic Hand Designs
Control Unit
Pressure Sensors
Slide31Project Progress
CIRCUIT DESIGN
PCB DESIGN
GLOVE DESIGN
ROBOTIC HAND TESTINGTIMELINE
Slide32Robotic Hand Testing
Slide33Project Progress
CIRCUIT DESIGN
PCB DESIGN
GLOVE DESIGN
ROBOTIC HAND TESTINGTIMELINE
Slide34Timeline
Slide35CONCLUSION
What have we done?
Where are we now?
What is next?
Slide36ReferencesBill Moede. (2012, August 18). Destination Innovation-Episode 3: Human Exploration Telerobotics [Video file]
.
Retrieved from
http://www.youtube.com/watch?v=qL8powplgcICarnegieMellonQatar. (2011, March 20). Carnegie Mellon Qatar Building Tour [Video file]. Retrieved from http://www.youtube.com/watch?v=84QMXfcrO9Q
Eye-Spy Aw, Snap!. (2013, June 18). Robotic ‘Wearable ExoSkeleton Hand’ [Video file]. Retrieved from http://www.youtube.com/watch?v=Lgb1x7P3AnwJumpei Arata [純平 荒田]. (2012, August 1). Tele-surgery robot [Video file]. Retrieved from http://www.youtube.com/watch?v=mICsAkOeep4Texas A&M University at Qatar. (2013, January 6). 10 Years of Engineering a World of Difference [Video file]. Retrieved from http://www.youtube.com/watch?v=xYBR6yRZ4okWarner Bros. Pictures. (2013, September 24). Gravity – Official Main Trailer [2K HD] [Video file]. Retrieved from http://www.youtube.com/watch?v=OiTiKOy59o4
Slide37References (continued)
5DT Data Glove 5 Ultra
. (2011, 11 25). Retrieved from 5DT: http://www.5dt.com/products/pdataglove5u.html
DG5
VHand
3.0.
(n.d.) Retrieved from vrealities
:
http://www.vrealities.com/products/data-gloves/dg5-vhand-glove-3-0
acceleglove
user guide manual.
(
n.d.
). Retrieved from
acceleglove
: http://www.acceleglove.com/AcceleGloveUserGuide.pdf
CyberGlove
Systems.
(
n.d.
). Retrieved from
CyberGlove
Systems: http://www.cyberglovesystems.com/sites/default/files/CyberGloveII_Brochure_2009.pdf
INITION.
(
n.d.
). Retrieved from Essential Reality P5 Glove from
Inition
: http://inition.co.uk/3D-Technologies/essential-reality-p5-glove
Glove sensors.
(
n.d.
). Retrieved from Cloud Front: http://d1fohg17mj6x9u.cloudfront.net/Awards/categories/connected-body/glove-sensors.jpg
Robot Shop.
(
n.d.
). Retrieved from robot shop:
http://www.robotshop.com/media/files/images/mechate-robot-hand-6-large.jpg
wave.
(
n.d.
). Retrieved from
Bini
Photo: http://www.weebly.com/uploads/6/5/3/2/6532278/www.biniphoto.com__wave_-1.png
Slide38Acknowledgments We would like to take this opportunity to thank Dr. Beena Ahmed, for her invaluable contribution, in the development of our project; Dr. Ziyad Shafik and Mr.
Wesam
Mansour, for his constant help throughout the project; Dr. Haitham Abu Rub, for his cooperation and input
Slide39Questions?
Slide40Budget
Sensor Glove
Item
Quantity
Total Price
Arduino Nano
10
$69.70
6-DOF Accelerometer & Gyroscopic Sensor
10
$59.99
Buck-Boost Converter
10
$40.50
Flex Sensor 4.5”
10
$116.50
Force Sensor – Small
10
$53.60
Force Sensor – 0.5” area
10
$62.60
Force Sensor – Square
10
$71.60
Pressure Sensor – 1” area
10
$224.60
Vibration Motors
15
$66.90
Analog Feedback Micro Servo
10
$136.00
FTDI Basic Breakout - 5V
6
$87.00
FTDI Cable 5V
2
$35.9
Wireless Communication
XBee Explorer USB
5
$124.75
XBee 2mW U.FL Connection
10
$233.60
Robotic Hand
MechaTE Robotic Hand (right-hand)
1
$900.00
Total Budget
$2283.24
Slide41Production Costs
Sensor Glove
Item
Quantity
Total Price
Arduino Nano
1
$6.97
6-DOF Accelerometer & Gyroscopic Sensor
1
$6.00
Flex Sensor 4.5”
5
$58.25
Vibration Motors
5
$22.30
Analog Feedback Micro Servo
5
$68.00
FTDI Basic Breakout - 5V
1
$14.50
FTDI Cable 5V
1
$17.95
Wireless Communication
XBee Explorer USB
2
$49.90
XBee 2mW U.FL Connection
2
$46.72
Total Budget
1
$290.59
Slide42Detailed Timeline