Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 55 | Glove For Programmable Prosthetic Hand |
Quang Nguyen Ryan Metzger Sohil Pokharna |
Sainath Barbhai | design_document1.pdf final_paper1.pdf photo1.jpg photo2.png photo3.png photo4.png photo5.png photo6.png presentation1.pdf proposal1.pdf video |
|
| Project Title: Glove For Programmable Prosthetic Hand Team Members: - Quang Nguyen quangpn2 - Sohil Pokhara sohilp2 - Ryan Metzger rtm4 Problem Modern robotic prosthetics may achieve fine motor control through predefined hand motions encoded into the prosthetic. Modern prosthetics may have the ability to save preset positions but don’t have the ability to adjust and tweak positions on the fly. We plan to implement a hardware/software solution that is able to measure the positions of a functional organic hand and translate this motion into a prosthetic hand in order for this prosthetic to mimic this motor control on the move. With features such as mirroring we are able to have 2 hands, 1 organic and simulated prosthetic, we are able to introduce a level of dynamic programmability. Also introducing multiple preset positions through organic hand gestures, the user can recall most used positions for convenience. By adding sensors to individual fingers, we can combine combinations of gestures in order to control the prosthetic beyond mirror mode and be able to change the preset positions using these gesture controls. Solution We propose to create a glove with flex sensors and hall effects that can measure the motion of the fingers and detect gestures that the user gives. From this the user can then control a robotic hand with their organic hand making it easier to adjust position as well as record motions for the robotic hand to execute. Subsystem 1: Processing/Communication Unit Microcontroller - Responsible for interpreting sensor data from the gesture detection unit. Also supplies voltage to the sensors. Flash Memory - Store the recallable positions when the glove is turned off. Bluetooth- Used to relay microcontroller commands to the hand. Subsystem 2: Motion/Gesture Detection Unit Flex Sensors- Used to measure the positions/motion profile of each finger. Hall Effect Sensors Used for gesture control to recall preset positions, program new positions, and activate various modes such as mirroring. Magnet on thumb, hall sensors on tip of digits creating 4 digital inputs. Subsystem 3: Power Battery- Provides power to the entire system. Power Regulation- Provides regulated voltages to other components Subsystem 4: Physical/Digital Hand Used to demonstrate capabilities of a project. Usure if using a digital model or a physical model. Digital Approach- 3D Modeling Software(Unity) with access to computer Physical Approach- Continuous Servos, 3D Printed Parts, String Criterion for Success: The sensing glove is able to recognize and relay the accurate position of each digit, then the microcontroller is able to interpret and control the prosthetic. The sensing glove is able to relay and the controller can recognize individual gestures used for control of the prosthetic hand such as recalling predefined positions, activating various modes(mirror, programming, etc), various other functions of the hand such as power down etc. Demo Video : https://youtu.be/7oDK8qUUqnE |
|||||