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