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Robotic Hand

Members: Jared Wood Cameron Sullivan Aaron Lassig Advisor: Dr. Stephen Mascaro. Robotic Hand. Introduction. The robotic hand Control program Facts and figures Problems & Changes Costs Plans for next year Thank yous. The Robotic Hand. SMA Actuated muscle tendon system.

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Robotic Hand

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  1. Members: Jared Wood Cameron Sullivan Aaron Lassig Advisor: Dr. Stephen Mascaro Robotic Hand

  2. Introduction • The robotic hand • Control program • Facts and figures • Problems & Changes • Costs • Plans for next year • Thank yous

  3. The Robotic Hand • SMA Actuated muscle tendon system.

  4. Complete Finger Design • Designed finger mechanism • Incorporated theoretical models into reality

  5. Reverse Bias • The finger becomes easier to pull as it flexes. Tendon Tendon L2 L1

  6. Finished Product • Everything assembled into the finger test bed.

  7. Control Program • Send control signals to actuators • Java  graphical user interface (GUI) • Sliders  adjust flexion • Graphic finger  move with flexion • Graphic array  required state change • Graphic array  current state

  8. GUI

  9. GUI

  10. Facts & Figures • Finger tested & works • Control GUI works • Reverse bias design as anticipated

  11. Facts & Figures Close-up Force Output vs. Finger Angle L2 L1

  12. Problems & Changes • Friction issues • Transmission system • Additions to project • Remake actuator manifold • Control GUI

  13. Costs • Research Project—no “product” for sale

  14. Next Year’s Work • Completed: • One finger • Transmission system • Updated actuator array • Frame • GUI for controlling finger • Work remaining: • Remaining fingers & thumb • Connection of fingers & thumb • Next year’s team  7 people

  15. Thanks for a great year! Advisor: Professor Stephen Mascaro Graduate Support & Collaboration: Les Flemming General Funding: Department of Mechanical Engineering Editor: Rachel Sullivan

  16. Questions?

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