- Qatar Robotics Institute for Development

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Tele-Operated Robotic Hand with
Sensor Glove
Mouhyemen A. Khan
Arian Yusuf
Ahmed Ragheeb
Nouran Mohamed
Mentor: Dr. Beena Ahmed
Overview
Project Background
Project Progress
Project Background
HISTORICAL REVIEW
BENCHMARKING
ANALYSIS
CONCEPT
GENERATION
CUSTOMER NEEDS
FUNCTIONAL
MODELLING
Historical Review
Digital Entry Data Glove
Fiber Optic Glove
Cyber Glove
5DT Data Glove
by Fifth Dimension Technologies
Developed by Gray Grimes
Developed by Visual
Programming Language
Inc.
Developed by James
Kramer
Pinch Glove
by Mapes
1983
1977
1987
1992
2000 - Present
1989
1997
Sayre Glove
Power Glove
Human Glove
Developed by Thomas de
Fanti & Daniel Sandin
Developed by Mattel
Intellivision
Developed at Humanware
Srl
Limitations & Challenges
Cloth Support
Poor Durability
Need of Calibration
High Cost
Problem Statement
Current products are expensive
Our Aim
Versatile
Cheap
Long Range
Good functionality
Semester Tasks
HISTORICAL REVIEW
BENCHMARKING
ANALYSIS
CONCEPT
GENERATION
CUSTOMER NEEDS
FUNCTIONAL
MODELLING
Concept Generation
Concept Scoring
Concepts
B
Weights
Configurability
Cost
Performance Speed
Security
Mass + Volume
Safety
Range
Reliability
Comfort
Maintenance
Total
5%
10%
10%
15%
15%
10%
20%
5%
5%
5%
100%
Rank
Continue
C
Weighted
Score
0.25
0.3
0.5
0.45
0.75
0.2
1
0.15
0.15
0.15
3.9
Score
5
3
5
3
5
2
5
3
3
3
37
1
Yes
D
Weighted
Score
0.15
0.3
0.5
0.3
0.45
0.3
0.2
0.15
0.2
0.2
2.75
Score
3
3
5
2
3
3
1
3
4
4
31
3
No
Weighted
Score
0.05
0.5
0.5
0.45
0.75
0.3
0.2
0.15
0.2
0.05
3.15
Score
1
5
5
3
5
3
1
3
4
1
28
2
No
Semester Tasks
HISTORICAL REVIEW
BENCHMARKING
ANALYSIS
CONCEPT
GENERATION
CUSTOMER NEEDS
FUNCTIONAL
MODELLING
Customer Needs
Customer Needs (Continued)
Semester Tasks
HISTORICAL REVIEW
BENCHMARKING
ANALYSIS
CONCEPT
GENERATION
CUSTOMER NEEDS
FUNCTIONAL
MODELLING
1 . Vhand Glove 3.0
5 . 5DT Glove
4 . P5 Glove
2 . CyberGlove
3 . AcceleGlove
Benchmarking
Competitor Products
Number of Sensors
Sensor Data Rate
DG5-VHand Glove
3.0
8
Customizable
CyberGlove II
5DT Data Glove
P5 Glove
AcceleGlove
Sensor
Glove(OURS)
18
7
7
6
5+5
Fixed
Fixed
Fixed
Fixed
Customizable
Operating Temperature
Devices supported in each
environment
0 -50˚C
10 - 45˚C
S.T.P
S.T.P
S.T.P
S.T.P
>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
External
Operating Range
< 10 m
15 m
20 m
1.22 m
N.S
90 -100 m
Interface
Micro USB
USB
USB/Bluetooth
USB
USB
USB
Weight
Unknown
Unknown
Unknown
127 grams
111 grams
< 125 grams
Price
$585
$ 12,295
$1495
$49.99
$500
< $250
Haptic Feedback
No
No
No
No
No
Yes
Software
C ++
Own Language
C
Semester Tasks
HISTORICAL REVIEW
BENCHMARKING
ANALYSIS
CONCEPT
GENERATION
CUSTOMER NEEDS
FUNCTIONAL
MODELLING
Functional Modeling of Concept
Overview
Project Background
Project Progress
Project Progress
CIRCUIT DESIGN
ROBOTIC HAND
TESTING
PCB DESIGN
GLOVE DESIGN
TIMELINE
Single Sensor-glove Finger
COMPONENTS
ARDUINO BOARD (1 only)
XBEE BOARD
FLEX SENSOR
VIBRATION MOTOR
Flex Sensors Circuitry
Single Robotic-hand Finger
COMPONENTS
ARDUINO BOARD (1 only)
XBEE BOARD
PRESSURE SENSOR
SERVO MOTOR
Robotic Hand Circuitry
Project Progress
CIRCUIT DESIGN
ROBOTIC HAND
TESTING
PCB DESIGN
GLOVE DESIGN
TIMELINE
PCB Design – in progress
PWM
VCC
GND
Project Progress
CIRCUIT DESIGN
ROBOTIC HAND
TESTING
PCB DESIGN
GLOVE DESIGN
TIMELINE
Sensor Glove Designs
Flex Sensors
Vibration Motors
Control Unit
Robotic Hand Designs
Pressure Sensors
Control Unit
Project Progress
CIRCUIT DESIGN
ROBOTIC HAND
TESTING
PCB DESIGN
GLOVE DESIGN
TIMELINE
Robotic Hand Testing
Project Progress
CIRCUIT DESIGN
ROBOTIC HAND
TESTING
PCB DESIGN
GLOVE DESIGN
TIMELINE
Timeline
January
February
March
April
• Testing and
Calibration
• Complete Coding and
Testing for Robotic Hand
• Wireless Communication
• Work on assembly of the
Sensor Glove
• Test Single Finger Flex
Sensor Using
Telecommunication with
Robotic Hand
• Finish the Data Glove
Construction
• Wireless
Communication
• Robotic Hand Pinky
Adjustment
• Progress Report
• Presentation
• Finish Testing
• Final Report
• Final Presentation
• Poster Design
• Demonstration
• PCB Design
• Robotic Hand
testing
CONCLUSION
What have we done?
Where are we now?
What is next?
References
• Bill Moede. (2012, August 18). Destination Innovation-Episode 3: Human
Exploration Telerobotics [Video file]. Retrieved from
http://www.youtube.com/watch?v=qL8powplgcI
• CarnegieMellonQatar. (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=Lgb1x7P3Anw
• Jumpei Arata [純平 荒田]. (2012, August 1). Tele-surgery robot [Video file].
Retrieved from http://www.youtube.com/watch?v=mICsAkOeep4
• Texas 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=xYBR6yRZ4ok
• Warner Bros. Pictures. (2013, September 24). Gravity – Official Main Trailer [2K
HD] [Video file]. Retrieved from http://www.youtube.com/watch?v=OiTiKOy59o4
References (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
Acknowledgments
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
Questions?
Budget
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
XBee Explorer USB
5
$124.75
XBee 2mW U.FL Connection
10
$233.60
1
$900.00
Wireless Communication
Robotic Hand
MechaTE Robotic Hand (right-hand)
Total Budget
$2283.24
Production Costs
Sensor Glove
Item
Arduino Nano
6-DOF Accelerometer & Gyroscopic Sensor
Flex Sensor 4.5”
Vibration Motors
Analog Feedback Micro Servo
FTDI Basic Breakout - 5V
FTDI Cable 5V
Quantity
Total Price
1
$6.97
1
$6.00
5
$58.25
5
$22.30
5
$68.00
1
$14.50
1
$17.95
2
$49.90
2
$46.72
1
$290.59
Wireless Communication
XBee Explorer USB
XBee 2mW U.FL Connection
Total Budget
Detailed Timeline
February
January
Week
Planning & Documentation
1. Proposal
2. Semester Progress Report
3. Presentations
4. Demo Day
5. Final Report
6. Website
Project Design
7. Data Glove
8. Wireless Communication
Project Construction
9. Data Glove
10. Wireless Communication
Coding
11. Data Glove
12. Robotic Hand
13. Wireless Communication
Testing Process
14. Sensors & Motors
15. Data Glove
16. Robotic Hand
17. Wireless Communication
1
2
3
4
1
2
March
3
4
1
2
Legend: Pending Completion  In Progress Completed
April
3
4
1
2
May
3
4
1
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