dianne goodwin, mebme president/rehab engineer nicholas lee, bsme partner/design engineer
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design and development process accessible, affordable, and modular robotics . Dianne Goodwin, MEBME President/Rehab Engineer Nicholas Lee, BSME Partner/Design Engineer Minneapolis, MN. RESNA 2014 Indianapolis, IN. Design and Development Process. Need : Problem needs solving - PowerPoint PPT PresentationTRANSCRIPT
Dianne Goodwin, MEBMEPresident/Rehab Engineer
Nicholas Lee, BSMEPartner/Design Engineer
Minneapolis, MN
DESIGN AND DEVELOPMENT PROCESSACCESSIBLE, AFFORDABLE, AND
MODULAR ROBOTICS
RESNA 2014 Indianapolis, IN
Design and Development Process
Need: Problem needs solving Identify the Need Involve real people and end users
Design and Development ProcessDesign Goals and SpecificationsPrototype Development (electronics/mechanical)
Design for Manufacturing (DFM)Best materials and methods of ManufactureCost of Production (NRE and Piece parts)
RESNA 2014 Indianapolis, IN
Needs and
Usability
Design
The 3 areas impact each other
RESNA 2014 Indianapolis, IN
Figure 2. Interdependence of Development Considerations
Needs & Usability
Product Design
Manufac- turing
Needs: end users and teams x x End user preferences x x Ease of use/Accessibility x x Product Cost x x xCompatibility with equipment x x xLook and feel x x xPreferences x x Manufacturability x xEase of assembly x xManufac. costs (parts, tooling) x xMaterial options x xSafety x x x
RESNA 2014 Indianapolis, IN
Need: Independent access and positioning
People with significant disabilities (no UE) reliant on others
Independent access devices, electronics, speech, water, controls
AND to move/position things independently move it where they need itwhen they want iteasily, safely and efficiently
Across environments—bed, w/c, tableRESNA 2014 Indianapolis, IN
Review Existing TechnologyStatic mounts
Daessy, Rehadapt, CJTMovable with some extremity use
Mount’n MoverDaessy SwingAway
Wheelchair-mounted Robotic ArmsFocus on reaching and graspingMove by alternate means (ie, joystick, switch)Load capacity is <3.5 poundsRESNA 2014 Indianapolis, IN
Wheelchair-mounted Robotic ArmJACO
Holds 1 kg (2.2 pounds )Reach 70 cm (27.5 in)Speed: 20 cm/s (8 in/s)Weight: 5 Kg (6 pounds)$38-50,000
RESNA 2014 Indianapolis, IN
iArm (formerly Manus)
iArmHolds 1.5 kg (3.3 lbs)Reach 90 cm (35.4 in)Speed: 15 cm/s (6 in/s)Weight: 9 Kg (20 lbs)$34,000-??
RESNA 2014 Indianapolis, IN
Product concept: Modular Power Mount
Power mount Support and
reposition devicesNOT grasping and
reachingAccessible controlsSingle or Multi-jointsSimple and functional
RESNA 2014 Indianapolis, IN
Design goals: Accessible, Modular, Affordable and Safe
Support up to 15 lbs, extended 15 inchesAccessible and easy to operate
A wide range of control optionsMemory positions (easy to program)Fine adjustments also accessible
Modular (hybrid/system/build your own) Single Joint—Tilt or RotationMulti-jointed Height Adjustment moduleRESNA 2014 Indianapolis, IN
Sometimes Less is MoreSingle Joint/Actuator
Tilt (Hybrid)SMART Joint
RotationLift
Operated bySingle switchTwo switchesJoystick (via ECU)
SMART joint
RESNA 2014 Indianapolis, IN
Sometimes More is More Multi-joint Systems
ProgrammableUp to 12 Sweet SpotsLevels (devices,
environments, people)Individual joint
adjustmentsMany input options
Joystick, switches, smart devices
RESNA 2014 Indianapolis, IN
Original concept: one arm length Big new idea: SMART Joint
SMART Joint = Building blockJoint + Extrusion opens up optionsSingle Joint version to create hybrids
Joint in different orientationsHorizontal, creates RotationOn its side, creates a Tilt
Joint + Extrusions (of different lengths) = different arm lengths
RESNA 2014 Indianapolis, IN
Lego-land: so many options…
RESNA 2014 Indianapolis, IN
So many details to decideImplications: Design, Usability, Manufacturing
Length of armHow many options?
Joint HousingJoint Cap Joint Release
Connections InputsWiring harnessesPower and data
Worm GearLocks w/o power
How it WorksProgrammingFeedback
Control Input optionsDisplayGraphics
RESNA 2014 Indianapolis, IN
Dizzy Di and the Wonder Guy
How fast should it move?
How will it attach to a wheelchair?
How will people control it?
How should it work?
I wonder what forces it needs to withstand?
I wonder how long the arm should be?
I wonder What kind of people will use it? What material
should we use?
RESNA 2014 Indianapolis, IN
Usability considerationsUser Interfaces, Input and feedback
End Cap Input jack(s)Touch control
Control Pad/DisplayTouch, input jacks, wireless
FeedbackMovementVisual (joints glow)Auditory
1 2 3 4
Pow!r Mount
RESNA 2014 Indianapolis, IN
What it Does and How it’s DoneEnd Cap and Control/Display
1 2 3 4
Pow!r Mount
RESNA 2014 Indianapolis, IN
Development MethodsMechanical and Electronics vary
3D CAD and PrintingSimulation Software to demo
Cannot look at things in isolationConcurrent focus on:
Technical design and feasibilityAccessibility and UsabilityManufacturability
Areas overlap and influence one anotherRESNA 2014 Indianapolis, IN
End User and their Team
NeedsEnd User preferencesEase of UseAccessibilityProduct CostCompatibility with other equipmentLook and feelSafety
RESNA 2014 Indianapolis, IN
Questions we’re asking
What will they use this for? Who might use it? How would they access it? What are they doing now? How do they want it to
work? How much would they pay? Who (person, voc rehab,
insurance) would pay?
What controls do they want to use?
What kind of user interface makes sense?
How will the UI operate? How big can it be? How long is the “arm”? Do they want a Single
joint, or Multiple joints?
RESNA 2014 Indianapolis, IN
Product design considerationsFunctionalityUtilityEase of UseDurabilitySafetyAestheticsSize and weightCompatibility
Tech supportAssemblyElectronics
LoadsImpactFailure modesEnvironmentsManufacturability
RESNA 2014 Indianapolis, IN
SimplifyProduct
Limit choicesInterface
Easy to use Intuitive (relate to familiar products)
ManufacturingReduce parts (Unibody and worm carriage)Easier to assembleUse one part in multiple ways
RESNA 2014 Indianapolis, IN
One part, Multi-purpose Extrusion
Arms Battery pack
Plate Mounting Plate Bottom Plate
Hole pattern Existing MM parts Extrusion Compatibility increases flexibilityRESNA 2014 Indianapolis, IN
Manufacturing influences DesignEx: Joint Housing
Idea: from tour of an Investment Cast facility Clam shell (2 part) evolved into UniBodyPart reduction 2>1; no screws neededFewer seams for water
Minimize part countCombine partsLess assemblyHave each part “do more”
RESNA 2014 Indianapolis, IN
Worm’s turn: Investment Casting Carriage: 6 parts to 1
No assembly required Easy assembly of motor/worm More rigid
Multi-functional Motor attachment Release feature/gear mesh adjustment
Investment casting Tooling cost <die cast 0 degree Draft 2nd Ops: Machine for precision
RESNA 2014 Indianapolis, IN
Joint Release Mechanism
RESNA 2014 Indianapolis, IN
Iterative Design Process
RESNA 2014 Indianapolis, IN
Joint Release—Multi-functional
Release for Safely and easily move the mountWithout power
Release forEase of programming
Perhaps forTraining the arm to follow a path
RESNA 2014 Indianapolis, IN
Ideal Design Evolution
Needs and
Usability
Design
Key features—design and evaluate for: Usability Manufacturability
Manufacturing/design Consider alternatives Cost implications (tooling/parts)
End result Affordable product That meets their needs People can do what they want—independently!
RESNA 2014 Indianapolis, IN
Questions? Thank you! Your opinions and ideas are Welcome Keep in touch
[email protected]@blueskydesigns.us http://blueskydesigns.us/projects/powered-mount/
Thank YOU! To NIH/NICHD!!!Research supported by NIH/NICHHDSBIR Award Number R44HD072469
RESNA 2014 Indianapolis, IN