Transradial Prosthetic Arm

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Transradial Prosthetic Arm. Henry Lather Team Members: Kendall Gretsch and Kranti Peddada Mentors: Dr. Charles Goldfarb and Dr. Lindley Wall Website: www.transradialprostheticarm.weebly.com. Transradial Limb Amputation. 1/3 proximal. preview.turbosquid.com. Need. - PowerPoint PPT Presentation

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Transradial Prosthetic ArmHenry LatherTeam Members: Kendall Gretsch and Kranti PeddadaMentors: Dr. Charles Goldfarb and Dr. Lindley WallWebsite: www.transradialprostheticarm.weebly.com

Transradial Limb Amputationpreview.turbosquid.com1/3 proximalNeedThere are an roughly 10,000 individuals in the US with a transradial limb difference

Most are highly functional, even without a prosthesis

However, many want a prosthesis to augment function

The goal is to give the user a sense of normality and to allow the user to multitaskDesign SpecificationsPatient PopulationUnilateral, transradial limb differenceAges 5+

Total Parts CostMaximum $150

JointsFingers at least oneThumb has two1 degree of freedom per joint

ComfortDoes not cause pain, skin abrasions, or infection

Design Specifications (cont.)FunctionalityFingers and thumb open and close at least at the mouth, belt, and out frontIndependent thumb movement with key gripAbility to lift and hold at least 500 g

Donning and Doffing Independently in under 30 seconds

SecurityDoes not come off unless intentionally removed

WeightDoes not exceed weight of missing limb

Design Components We EvaluatedFinal DesignActuation and ControlSocket Design and FabricationSuspensionTerminal DeviceDesign Components We EvaluatedFinal DesignActuation and ControlSocket Design and FabricationSuspensionTerminal DeviceActuation and Control Design OptionsBody-poweredShoulder-controlledElbow-controlledExternally-poweredShoulder-controlledVoice-controlledButton-controlledEMG-controlled

Body-powered,Shoulder-controlled3 separate movementsUncomfortableHard to use

Body-powered,Elbow-controlled2 separate movementsVery limited range of motion

SensorExternally-powered,Shoulder-controlledSensor can distinguish 2 independent movements

Microphone

Externally-powered,Voice-controlledSocially disruptiveWould not work in high-noise places

ButtonsExternally-powered,Button-controlledSimple and reliableRequires use of other handComparison of General FeaturesBody-poweredUncomfortableCan fatigue userHard to useMechanical parts visibleHard to Don/DoffLow costLight-weightDurableExternally-poweredComfortableNo fatigueEasy to useMechanical parts hiddenEasy to Don/DoffHigher costHeavierLess durable

Comparison of General Features (cont.)Body-poweredLow maintenanceEasily scales to different sizesSensory feedback through effortExternally-poweredHigher maintenanceElectronic components do not easily scaleNo sensory feedbackActuation and ControlBody-poweredExternally-poweredWeightShoulderElbowShoulderVoiceButtonHinderance to Daily Life10731022Comfort91491010Cost81010556Ease of Use741101010Aesthetics72510109Weight61010557Force687666Don/Doff Time61381010Durability4910777Maintenance489657Scalability277555Sensory Feedback199222Total406407539476497Pugh Chart SelectionOur mentors strongly preferred the Externally-powered, Shoulder-controlled device as wellDesign Components We EvaluatedFinal DesignActuation and ControlSocket Design and FabricationSuspensionTerminal DeviceSocket Design and Fabrication: 3D Printed Socket ChosenCustom madeMaximize fit and comfortProcess3D scan of residual limbNegative of scan for socket modelPrintFast and inexpensiveLess durable than traditional socket

http://store.solidoodle.com/Design Components We EvaluatedFinal DesignActuation and ControlSocket Design and FabricationSuspensionTerminal DeviceSuspension System ChosenSock liner with locking pinSock slides on easily with one handLocking pin secures socket to limb

http://www.easyliner.comDesign Components We EvaluatedFinal DesignActuation and ControlSocket Design and FabricationSuspensionTerminal DeviceTerminal Device OptionsCustomizable Terminal DevicesRobohandSingle joint, Lever-based HandThe MittenCommercial Terminal DevicesTRS Hook (Buy)Hosmer APRL Hook (Buy)Hosmer APRL Hand (Buy)Soft Hands (Buy)

The RobohandExisting low-cost solutionOpen-source CAD files2 joints in each finger

http://www.thingiverse.com/thing:92937Single Joint, Lever-based HandDesigned by our teamSimilar in form and function to the Robohand

Single Joint, Lever-based HandEach finger has two leversOne for restoring forceOne for actuating forceApply TensionThe MittenModeled closely after the RobohandAll 4 fingers move as one unit

HooksEfficientUnsightly

Hosmer APRL HandDecent in all categoriesExpensive to buy

Functional "Soft" HandsSoft, skin-like covering over metal hookExtremely life-like appearanceExtremely expensive

Terminal DevicesCustomizable HandsCommercial DevicesWeightRoboHandLever-basedMittenTRS HookAPRL HookAPRL HandSoft HandCost101010106441Aesthetics1064311910Weight81010107865Efficiency656610771Durability423410976Repair Cost31010101111Total308298292229195251183Pugh Chart SelectionOur mentors were not enthusiastic about The MittenWe decided to go with the Robohand because it scored the highest and it has already been proven to workChosen Design ComponentsFinal DesignExternally-powered, shoulder-controlled3D Printed SocketSock Liner with Locking PinThe RobohandChosen Design ComponentsFinal DesignExternally-powered, shoulder-controlled3D Printed SocketSock Liner with Locking PinThe Robohand

IMUExternally-powered,Shoulder-controlledIMU measures linear acceleration and angular velocityOur Chosen DesignGeneral electronics schematicInertial measurement unit = IMUShoulder MovementIMUThumb Stepper MotorFingers Stepper MotorShoulder MovementDataMicro-controller and Motor ControllerPower SupplySpecific Details of Chosen Design: Possible Components

Arduino R3 Motor ControllersThe Arduino Micro

Adafruit Stepper Motors

Arduino Compatible IMUCable-spooling MethodRotational actuatorCable is attached to drive shaftWinds around drive shaft to increase tension when motor is activatedMotor ONTension AppliedSpoolingDesign Schedule

Team ResponsibilitiesKendall GretschPreliminary Oral ReportCorrespondence with clientsCAD filesSocket and Suspension Design3D Printing

Henry LatherProgress Oral ReportWebpage Design and MaintenanceCorrespondence with Dr. Klaesner and Leah VandiverSoftware DevelopmentElectronics and Robotics Design

Kranti PeddadaFinal Oral ReportWeekly UpdatesSafety AnalysisElectronics and Robotics DesignSourceshttp://www.hanger.com/prosthetics/services/upperextremity/Pages/FCI.aspxhttp://www.amputee-coalition.org/inmotion/jul_aug_01/primer.htmlhttp://www.hanger.com/prosthetics/services/Technology/Pages/Insignia.aspxhttp://madebybump.org/#introhttp://www.amputee-coalition.org/inmotion/nov_dec_04/sockettech.htmlhttp://www.openprosthetics.org/suspension http://www.ossur.com/?PageID=13412http://www.nlm.nih.gov/cgi/mesh/2011/MB_cgi?mode=&term=Supinationwww.vistatek.comhttp://www.solidconcepts.com/resources/dg/injection-molding-design-guidelines/http://www2.mae.ufl.edu/designlab/Lab%20Assignments/EML2322L-Tolerances.pdfhttp://www.solidconcepts.com/resources/dg/injection-molding-design-guidelines/http://sheldonbrown.com/cables.html

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