P08023: Air Muscle Artificial Limb I
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Staffing Requirements

Sub-Team Descriptions

The senior design of 6-8 students will be broken down into 3 sub-teams which consist of the "Air Muscle Team," the "Controls Team," and the "Design/Build Team."

Team Organization

Air Muscle Team

A 2-3 member team that will primarily focus on the development and implementation of the air muscles. Some issues that will need to be addressed by this team include:

The ideal air muscle team would consist of mechanical or industrial engineering students and potentially a biology of other medical science student with a background in anatomy and physiology.

Controls Team

This second sub-team will be responsible for implementing control mechanisms and algorithms for muscle control. A series of solenoid valves will control the delivery of compressed air to the muscles. The controls team will be responsible for:

The controls team will work to integrate the air muscles and control algorithms with the existing robotic hand. The ideal controls team would consist of mechanical and electrical engineering students with strong interests and backgrounds in robotic controls.

Design/Build Team

The final design team will be responsible for the design of the new robotic hand. The existing hand model has limited degrees of freedom thus there is a need to design and build a new robotic hand that is capable of reproducing all human hand motions. However the existing hand provides an ideal test platform to test air muscles and control algorithms in a simpler configuration. The team should use the current design to:

A key design issue to be addresses by the design team is the issue of scalability since the goal of the proposed work is to provide the framework for future studies using a small scale robotic hand.

Staffing Requirement

Staffing
Name Discipline Sub-Team Role / Skills
Dr. Kathleen Lamkin-Kennard ME Faculty Guide, Will work closely with the team on an on-going basis to facilitate success. The development of a Low-Cost, Scalable Robotic hand is Dr. LK's design project idea. She will be acting as the customer for this project.
John Wellin ME Faculty Consultant, Will support the team as much as possible. Has shown a strong interest in the technology of the project. Is experience with the technology. Will Provide Specific Controls Assistance
Jonathan Niebielski ME Project Technician: Has been working with Dr. KLK for a few hours a week optimizing and developing the air muscle technology. Would play a vital part in the first few weeks of the project by helping the team members understand the technology.
Jonathan Kasper ME Design/Build Project manager:Design of Experiments,Scheduling, Ordering, Coordination between teams, Identification of Components that need to be ordered, etc. Design/Build: Prototype new design with CADD software as well as complete any necessary machining of new parts. Research some possible design solutions and be prepared to digest all the current design flaws. A strong background in fluid flow as well as dynamics is needed. Develop a scalable design by experimenting and changing the constraints of the arm. Will be expected to conduct parametric modeling. Responsible for assembly of the new design.
Matt Lewis ME Design/Build Prototype new design with CADD software as well as complete any necessary machining of new parts. Research some possible design solutions and be prepared to digest all the current design flaws. A strong background in fluid flow as well as dynamics is needed. Develop a scalable design by experimenting and changing the constraints of the arm. Will be expected to conduct parametric modeling. Responsible for assembly of the new design.
Ellen Cretekos ME Air Muscle Team Identify Muscle Forces/Hand Motions/Anatomical Requirements: Strong statics, dynamics, and mechanics background as well as systems is preferred. Student should be able to conduct experiments that will lead to both the forces needs as well as the forces produced by the air muscles. It is expected that the student will research air muscles heavily and gain a knowledge for how they will be used to control the fingers. Optimization of the air muscles is a key design goal. Most likely will work with the interfacing of the solenoid valves and the air muscles. Must have a base knowledge of systems. Will most likely aid in the control algorithm development (Possible play a large systems role depending on other students knowledge).
Josa Hanzlik ME or IE Air Muscle Team Identify Muscle Forces/Hand Motions/Anatomical Requirements: Strong statics, dynamics, and mechanics background as well as systems is preferred. Student should be able to conduct experiments that will lead to both the forces needs as well as the forces produced by the air muscles. It is expected that the student will research air muscles heavily and gain a knowledge for how they will be used to control the fingers. Optimization of the air muscles is a key design goal. Most likely will work with the interfacing of the solenoid valves and the air muscles. Must have a base knowledge of systems. Will most likely aid in the control algorithm development (Possible play a large systems role depending on other students knowledge).
Nick Rappa ME/EE/Programmer Controls Team Robotic/Control Systems Computer Interface/Assist with Control Algorithm: Extensive knowledge of a programming language. Must be able to develop a control algorithm for the complex motion of a human hand. A robotics background is crucial to the success of the project. Must have extensive knowledge of both electrical and mechanical systems and the interface of the two. In addition, this student will be in charge of the design/testing/control of the solenoid valves. Must be able to interface with a computer seamlessly.
Mark McKann ME/EE/Programmer Controls Team Robotic/Control Systems Computer Interface/Assist with Control Algorithm: Extensive knowledge of a programming language. Must be able to develop a control algorithm for the complex motion of a human hand. A robotics background is crucial to the success of the project. Must have extensive knowledge of both electrical and mechanical systems and the interface of the two. In addition, this student will be in charge of the design/testing/control of the solenoid valves. Must be able to interface with a computer seamlessly.
Eric Giang EE/Programmer Controls Team Robotic/Control Systems Computer Interface/Assist with Control Algorithm: Extensive knowledge of a programming language. Must be able to develop a control algorithm for the complex motion of a human hand. A robotics background is crucial to the success of the project. Must have extensive knowledge of both electrical and mechanical systems and the interface of the two. In addition, this student will be in charge of the design/testing/control of the solenoid valves. Must be able to interface with a computer seamlessly.
Jenna Fike EE Bioengineering ALL Medical/Anatomical Background - This student will use their anatomy, physiology and biology background to assist with all aspects of the design project. Main objectives will be to support the design team in an attempt to design a new artificial limb. Student wants to have some robotic knowledge as well as a CADD background. It is expected that this student will use their knowledge of interfacing electrical systems with the human body to support both the controls and the design team. A basic understanding of mechanical engineering principles is preferred.

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