PowerPoint Presentation

Tele-Operated Robotic Hand with Sensor GloveMouhyemen A. KhanArian Yusuf

Ahmed RagheebNouran Mohamed

Mentor: Dr. Beena AhmedOverview

Project Background

Project Progress

Project BackgroundHISTORICAL REVIEWCONCEPT GENERATIONCUSTOMER NEEDSBENCHMARKING ANALYSISFUNCTIONAL MODELLINGHistorical ReviewSayre Glove

Developed by Thomas de Fanti & Daniel Sandin Fiber Optic Glove

Developed by Visual Programming Language Inc.Power Glove

Developed by Mattel IntellivisionCyber Glove

Developed by James Kramer 19771987199219891997Human Glove

Developed at Humanware Srl 2000 - Present5DT Data Glove by Fifth Dimension Technologies

Pinch Glove by Mapes1983 Digital Entry Data Glove

Developed by Gray Grimes1977: Sayre Glove was developed by Thomas de Fanti and Daniel Sandin. It used flex sensors with a light source at one end and a photo cell at the other, which were mounted together along each finger of the glove. As each of the fingers bent, the amount of light passing between the source and photo cell decreased, thus voltage from each photocell could be correlated with the finger bending.

1983: Digital Entry Data Glove was designed by Gray Grimes in 1983. It used a combination od sensors mounted on the glove that included touch sensors to determine whether the users thumb was touching another part of the hand or finger; knuckle-bend sensors to measure flexion of the joints in the thumb, index and little fingers; tilt sensors to measure the tilt of the hand in the horizontal plane; inertial sensors to measure the twisting of the forearm and the flexing of the wrists. The glove was made to recognize hand signs

1987: Fiber optic data glove was designed by Visual Programming Language Research in 1987. It had 5 to 15 sensors that were used to measure angles between adjacent fingers. This data glove was made for multipurposes.

1989: In 1989, a low cost version of the data glove was developed named the power glove by Mattel Intellvision. The power glove was used as a control device for the Nintendo video game console and became well known among video game players.

1992: The Cyber glove was developed by James Kramer at the Visual Exploration Laboratory of the Center of Design Research at Standford University. This glove was equipped with 18 to 22 sensors that included two bend sensors on each finger, four abduction/adduction sensors plus sensor measuring the thumb crossover, palm arch, wrist flexion and wrist abduction/adduction. The glove is calibrated for every user to make glove measurements insensitive to differences.

1997: Human Gloves were developed in 1997 and commercialized by Humanware Srl. It is equipped with 10 Hall-effect sensors that measure the flexion and extension of the four fingers and their joints and the flexion of the thumb and its joints. This glove, just like the Cyber Glove, it requires calibration from one user to the other.

2000- present: 5DT Data glove was developed and commercialized by Fifth Dimension Technologies in 2002. This data glove has several versions. The most used is the 5DT Data Glove 5 which uses optical fiber flex sensors, two on each finger and 2 abduction/adduction sensors placed between the fingers. The glove measures the finger bending indirectly based on the intensity of the returned light from fiber flex sensors. Just like the other two gloves, this glove also requires calibration.

There is also the Pinch Glove which was developed by Mapes at the University of Central Florida. This glove uses electrical contacts at the fingertips, on the back of the fingers, or in the palm. When two or more electrical contacts meet, a conductive path is completed and a posture can be made. The PinchGlove interface detects if a posture was made and it keeps record of the posture duration.4Limitations & Challenges Cloth Support

Poor Durability

Need of Calibration

High CostCloth Support can cause a limitation in the users haptic sense and naturalness of the movement. This can also affect measurement performance which can limit the ability of the glove measurement to perform fine discrimination and therefore the number of patterns a glove can generate when used for gesture-based applications.

Poor durability and the need for calibration (a very long and non-automatic process) are two limitations that they faced in recently developed gloves.

Another challenge that they faced is to develop a glove that is less expensive. Several commercial gloves are currently priced between $2,000 to $5,000. The 5DT Data Glove is in that range while the CyberGlove is beyond $10,000. This makes it less desirable for a customer to purchase such products that are this expensive and have the listed limitations. 5Problem StatementCurrent products are expensive

Our AimVersatileCheapLong RangeGood functionalitySemester TasksHISTORICAL REVIEWCONCEPT GENERATIONCUSTOMER NEEDSBENCHMARKING ANALYSISFUNCTIONAL MODELLINGConcept Generation

ConceptsWeightsBCDScoreWeightedScoreScoreWeighted ScoreScoreWeighted ScoreConfigurability5%50.2530.1510.05Cost10%30.330.350.5Performance Speed10%50.550.550.5Security15%30.4520.330.45Mass + Volume15%50.7530.4550.75Safety10%20.230.330.3Range20%5110.210.2Reliability5%30.1530.1530.15Comfort5%30.1540.240.2Maintenance5%30.1540.210.05Total100%373.9312.75283.15Rank132ContinueYesNoNoConcept ScoringSemester TasksHISTORICAL REVIEWCONCEPT GENERATIONCUSTOMER NEEDSBENCHMARKING ANALYSISFUNCTIONAL MODELLING

Customer NeedsFor the customer needs, we analyzed the answers we received from the survey conducted. We received 31 replies and the following charts show the responses.

Figure 1: The first question that we asked was after reading the project description (include a slide on the survey that has the project description) above, how interested are you in this project?. 15 out of 31 people (48.4%) were interested in the project.

Figure2: The second question that was asked was which of the following features of this product makes you want to purchase it? 17 out 31 people (54.8%) stated that they were interested in both the robotic hand and the data glove. 8 out of 31 people(25.8%) said that they would purchase the product if it included only the robotic hand. This shows that the customers are interested in having the robotic hand at the receivers side, which made us as a team conclude that it will be used as a prototype to present the functionality of the data glove.

12Customer Needs (Continued)

Figure 3: The third question asked was which aspect of the tele-operations is most beneficial to your field? 18 out of 31 people (58.1%) are interested in the wireless communication aspect of the project. 13 out of 31 people (41.9%) are interested in the robotic hand part of the project. Besides the presented parts of the project, we received other feedback from the survey that included working with radioactive material or remote operations, controlling rovers and probes sent to outer space and for surgery in medical field. This shows that this project can be used in various fields such as the civil defense and medical field. This helped guide us to which fields we can tackle and interview to present this product.

Figure 4:The final question that we asked was related to the expenses of this product. The average price of a robotic hand alone is $900-$1,000. Our product which is a tele-operated robotic hand with data glove will cost roughly $400-$500. If our new product was available today, how likely would you be to use it instead of competing products currently available from other companies? 30 out of 31 people (96.7%) are likely to purchase our product (11 out of the 30 are extremely likely to purchase it). This shows that building this product that is the robotic hand and the data glove is economically effective in comparison to our competitors product.

13Semester TasksHISTORICAL REVIEWCONCEPT GENERATIONCUSTOMER NEEDSBENCHMARKING ANALYSISFUNCTIONAL MODELLING

1 . Vhand Glove 3.0

2 . CyberGlove

3 . AcceleGlove

4 . P5 Glove

5 . 5DT Glove

Competitor ProductsDG5-VHand Glove 3.0CyberGlove II5DT Data GloveP5 GloveAcceleGloveSensor Glove(OURS)Number of Sensors8187765 + 5Sensor Data RateCustomizableFixedFixedFixedFixedCustomizableOperating Temperature0 -50C10 - 45CS.T.PS.T.PS.T.PS.T.PDevices supported in each environment>26 (maximum)1111Operating systemWindowsWindowsWindows 32 bit DLLWindows OnlyAllWindowsWireless TechnologyWiFiWiFiBluetoothWiredBluetoothZigbeeBattery Duration6 hours3 hours8 hoursNot Needed6-12 hoursD.K.Battery ChargerInternalExternalInternalNilExternalExternalOperating Range< 10 m15 m20 m1.22 mN.S90 -100 mInterfaceMicro USBUSBUSB/BluetoothUSBUSBUSBWeightUnknownUnknownUnknown127 grams111 grams< 125 gramsPrice$585$ 12,295$1495$49.99$500< $250Haptic FeedbackNoNoNoNoNoYesSoftwareC ++Own LanguageCBenchmarkingSemester TasksHISTORICAL REVIEWCONCEPT GENERATIONCUSTOMER NEEDSBENCHMARKING ANALYSISFUNCTIONAL MODELLINGFunctional Modeling of Concept

OverviewProject Progress

Project Background

Project ProgressCIRCUIT DESIGNPCB DESIGNGLOVE DESIGNROBOTIC HAND TESTINGTIMELINESingle Sensor-glove Finger

COMPONENTS

ARDUINO BOARD (1 only)

XBEE BOARD

FLEX SENSOR

VIBRATION MOTORFlex Sensors Circuitry

Single Robotic-hand FingerCOMPONENTS

ARDUINO BOARD (1 only)

XBEE BOARD

PRESSURE SENSOR

SERVO MOTOR

Robotic Hand Circuitry

Wireless Communication CircuitryProject ProgressCIRCUIT DESIGNPCB DESIGNGLOVE DESIGNROBOTIC HAND TESTINGTIMELINEPCB Design in progress

PWMVCCGNDPCB Design Final

Arduino NanoXbee ModuleServo PortsSensor PortsProject ProgressCIRCUIT DESIGNPCB DESIGNGLOVE DESIGNROBOTIC HAND TESTINGTIMELINESensor Glove Designs

Flex SensorsControl UnitVibration Motors

Sensor Glove PictureRobotic Hand Designs

Control UnitPressure SensorsProject ProgressCIRCUIT DESIGNPCB DESIGNGLOVE DESIGNROBOTIC HAND TESTINGTIMELINERobotic Hand Testing

Robotic Hand Testing

Project ProgressCIRCUIT DESIGNPCB DESIGNGLOVE DESIGNROBOTIC HAND TESTINGTIMELINETimelineCONCLUSIONWhat have we done?

Where are we now?

What is next?ReferencesBill Moede. (2012, August 18). Destination Innovation-Episode 3: Human Exploration Telerobotics [Video file]. Retrieved from http://www.youtube.com/watch?v=qL8powplgcICarnegieMellonQatar. (2011, March 20). Carnegie Mellon Qatar Building Tour [Video file]. Retrieved from http://www.youtube.com/watch?v=84QMXfcrO9QEye-Spy Aw, Snap!. (2013, June 18). Robotic Wearable ExoSkeleton Hand [Video file]. Retrieved from http://www.youtube.com/watch?v=Lgb1x7P3AnwJumpei Arata [ ]. (2012, August 1). Tele-surgery robot [Video file]. Retrieved from http://www.youtube.com/watch?v=mICsAkOeep4Texas 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=xYBR6yRZ4okWarner Bros. Pictures. (2013, September 24). Gravity Official Main Trailer [2K HD] [Video file]. Retrieved from http://www.youtube.com/watch?v=OiTiKOy59o4

References (continued)5DT Data Glove 5 Ultra. (2011, 11 25). Retrieved from 5DT: http://www.5dt.com/products/pdataglove5u.htmlDG5 VHand 3.0. (n.d.) Retrieved from vrealities:http://www.vrealities.com/products/data-gloves/dg5-vhand-glove-3-0acceleglove user guide manual. (n.d.). Retrieved from acceleglove: http://www.acceleglove.com/AcceleGloveUserGuide.pdfCyberGlove Systems. (n.d.). Retrieved from CyberGlove Systems: http://www.cyberglovesystems.com/sites/default/files/CyberGloveII_Brochure_2009.pdfINITION. (n.d.). Retrieved from Essential Reality P5 Glove from Inition: http://inition.co.uk/3D-Technologies/essential-reality-p5-gloveGlove sensors. (n.d.). Retrieved from Cloud Front: http://d1fohg17mj6x9u.cloudfront.net/Awards/categories/connected-body/glove-sensors.jpgRobot 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.pngAcknowledgments 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 inputQuestions?BudgetSensor GloveItemQuantityTotal PriceArduino Nano10$69.706-DOF Accelerometer & Gyroscopic Sensor10$59.99Buck-Boost Converter10$40.50Flex Sensor 4.510$116.50Force Sensor Small10$53.60Force Sensor 0.5 area10$62.60Force Sensor Square10$71.60Pressure Sensor 1 area10$224.60Vibration Motors15$66.90Analog Feedback Micro Servo10$136.00FTDI Basic Breakout - 5V6$87.00FTDI Cable 5V2$35.9Wireless CommunicationXBee Explorer USB5$124.75XBee 2mW U.FL Connection10$233.60Robotic HandMechaTE Robotic Hand (right-hand)1$900.00Total Budget$2283.24Production CostsSensor GloveItemQuantityTotal PriceArduino Nano1$6.97 6-DOF Accelerometer & Gyroscopic Sensor1$6.00 Flex Sensor 4.55$58.25 Vibration Motors5$22.30 Analog Feedback Micro Servo5$68.00 FTDI Basic Breakout - 5V1$14.50 FTDI Cable 5V1$17.95 Wireless CommunicationXBee Explorer USB2$49.90 XBee 2mW U.FL Connection2$46.72 Total Budget1$290.59 Detailed Timeline