Tele-Operated Robotic Hand with Sensor Glove Mouhyemen A. KhanArian Yusuf Ahmed RagheebNouran...
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- 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