Slide 1

Tele-Operated Robotic Hand with Sensor Glove Mouhyemen A. KhanArian Yusuf Ahmed RagheebNouran Mohamed Mentor: Dr. Beena Ahmed Mouhyemen A. KhanArian Yusuf Ahmed RagheebNouran Mohamed Mentor: Dr. Beena Ahmed

Slide 2

Overview Project Background Project Progress

Slide 3

Project Background

Slide 4

Historical Review Sayre Glove Developed by Thomas de Fanti & Daniel Sandin Fiber Optic Glove Developed by Visual Programming Language Inc. Power Glove Developed by Mattel Intellivision Cyber Glove Developed by James Kramer 1977 1987 1992 1989 1997 Human Glove Developed at Humanware Srl 2000 - Present 5DT Data Glove by Fifth Dimension Technologies Pinch Glove by Mapes 1983 Digital Entry Data Glove Developed by Gray Grimes

Slide 5

Limitations & Challenges Cloth Support Poor Durability Need of Calibration High Cost

Slide 6

Problem Statement Current products are expensive

Slide 7

Our Aim Versatile Cheap Long Range Good functionality

Slide 8

Semester Tasks

Slide 9

Concept Generation

Slide 10

Concepts Weights BCD Score Weighted Score Weighted Score Score Weighted Score Configurability 5%50.2530.1510.05 Cost 10%30.33 50.5 Performance Speed 10%50.55 5 Security 15%30.4520.330.45 Mass + Volume 15%50.7530.4550.75 Safety 10%20.230.33 Range 20%5110.21 Reliability 5%30.153 3 Comfort 5%30.1540.24 Maintenance 5%30.1540.210.05 Total 100%373.9312.75283.15 Rank132 ContinueYesNo Concept Scoring

Slide 11

Semester Tasks

Slide 12

Customer Needs

Slide 13

Customer Needs (Continued)

Slide 14

Semester Tasks

Slide 15

1. Vhand Glove 3.0 2. CyberGlove 3. AcceleGlove 4. P5 Glove 5. 5DT Glove

Slide 16

Competitor Products DG5-VHand Glove 3.0 CyberGlove II5DT Data GloveP5 GloveAcceleGlove Sensor Glove(OURS) Number of Sensors 8187765 + 5 Sensor Data Rate CustomizableFixed Customizable Operating Temperature 0 -50C10 - 45CS.T.P Devices supported in each environment >26 (maximum)1111 Operating system Windows Windows 32 bit DLL Windows OnlyAllWindows Wireless Technology WiFi BluetoothWiredBluetoothZigbee Battery Duration 6 hours3 hours8 hoursNot Needed6-12 hoursD.K. Battery Charger InternalExternalInternalNilExternal Operating Range < 10 m15 m20 m1.22 mN.S90 -100 m Interface Micro USBUSBUSB/BluetoothUSB Weight Unknown 127 grams111 grams< 125 grams Price $585$ 12,295$1495$49.99$500< $250 Haptic Feedback No Yes Software C ++ Own LanguageC Benchmarking

Slide 17

Semester Tasks

Slide 18

Functional Modeling of Concept

Slide 19

Slide 20

Overview Project Progress Project Background

Slide 21

Project Progress

Slide 22

Single Sensor-glove Finger COMPONENTS ARDUINO BOARD (1 only) XBEE BOARD FLEX SENSOR VIBRATION MOTOR

Slide 23

Flex Sensors Circuitry

Slide 24

Single Robotic-hand Finger COMPONENTS ARDUINO BOARD (1 only) XBEE BOARD PRESSURE SENSOR SERVO MOTOR

Slide 25

Robotic Hand Circuitry

Slide 26

Wireless Communication Circuitry

Slide 27

Project Progress

Slide 28

PCB Design in progress PWM VCC GND

Slide 29

PCB Design Final Arduino Nano Xbee Module Servo Ports Sensor Ports

Slide 30

Project Progress

Slide 31

Sensor Glove Designs Flex Sensors Control Unit Vibration Motors

Slide 32

Sensor Glove Picture

Slide 33

Robotic Hand Designs Control Unit Pressure Sensors

Slide 34

Project Progress

Slide 35

Robotic Hand Testing

Slide 36

Slide 37

Project Progress

Slide 38

Timeline January Testing and Calibration PCB Design Robotic Hand testing February 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 March Finish the Data Glove Construction Wireless Communication Robotic Hand Pinky Adjustment Progress Report Presentation April Finish Testing Final Report Final Presentation Poster Design Demonstration

Slide 39

CONCLUSION What have we done? Where are we now? What is next?

Slide 40

References Bill Moede. (2012, August 18). Destination Innovation-Episode 3: Human Exploration Telerobotics [Video file]. Retrieved from http://www.youtube.com/watch?v=qL8powplgcI 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=84QMXfcrO9Qhttp://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=Lgb1x7P3Anwhttp://www.youtube.com/watch?v=Lgb1x7P3Anw Jumpei Arata [ ]. (2012, August 1). Tele-surgery robot [Video file]. Retrieved from http://www.youtube.com/watch?v=mICsAkOeep4 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 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=OiTiKOy59o4http://www.youtube.com/watch?v=OiTiKOy59o4

Slide 41

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

Slide 42

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

Slide 43

Questions?

Slide 44

Budget Sensor Glove ItemQuantityTotal Price Arduino Nano10$69.70 6-DOF Accelerometer & Gyroscopic Sensor10$59.99 Buck-Boost Converter10$40.50 Flex Sensor 4.510$116.50 Force Sensor Small10$53.60 Force Sensor 0.5 area10$62.60 Force Sensor Square10$71.60 Pressure Sensor 1 area10$224.60 Vibration Motors15$66.90 Analog Feedback Micro Servo10$136.00 FTDI Basic Breakout - 5V6$87.00 FTDI Cable 5V2$35.9 Wireless Communication XBee Explorer USB5$124.75 XBee 2mW U.FL Connection10$233.60 Robotic Hand MechaTE Robotic Hand (right-hand)1$900.00 Total Budget $2283.24

Slide 45

Production Costs Sensor Glove ItemQuantityTotal Price Arduino Nano 1$6.97 6-DOF Accelerometer & Gyroscopic Sensor 1$6.00 Flex Sensor 4.5 5$58.25 Vibration Motors 5$22.30 Analog Feedback Micro Servo 5$68.00 FTDI Basic Breakout - 5V 1$14.50 FTDI Cable 5V 1$17.95 Wireless Communication XBee Explorer USB 2$49.90 XBee 2mW U.FL Connection 2$46.72 Total Budget 1$290.59

Slide 46

Detailed Timeline