![Page 1: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/1.jpg)
enter Dept name in Title Master
Final Project ReviewTeam 5: Helping Hand
SDP ‘18
Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua Girard
Department of Electrical and Computer Engineering Advisor: Professor Duarte
![Page 2: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/2.jpg)
2enter Dept name in Slide Master
The Team:
Department of Electrical and Computer Engineering
Corey RudermanCSE
Daniel TravisCSE
Jacob WynerCSE
Joshua GirardCSE, CS
![Page 3: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/3.jpg)
3enter Dept name in Slide Master
Introduction▪ Robotic arms are used in everything from
medical research to construction
▪ Remote control of robotic arms is complicated and unintuitive
Department of Electrical and Computer Engineering
![Page 4: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/4.jpg)
4enter Dept name in Slide Master
Arm Requirements and Specifications▪ Arm will have a minimum range of motion defined by a rectangular
prism 1.5’x1.5’ horizontally and 1’ vertically directly in front of the robot in 4 DOF
▪ Arm should mimic the user’s arm position with <0.25 second latency▪ Arm will be able to move at least 5 inches per second in any
direction ▪ Robot will move towards the user’s current hand position as fast as
possible rather than mimic all movements exactly▪ Evaluation metric: Arm will perform the task of moving 5 rocks
(approx. size of a ping pong ball) placed randomly within the workspace of the arm into a ~3” tall bowl of diameter ~8” within 5 min
Department of Electrical and Computer Engineering
![Page 5: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/5.jpg)
5enter Dept name in Slide Master
User Interface Requirements and Specifications▪ Hand tracking -- Intuitive and easy to use▪ Fast tracking rate (>20 FPS)▪ Accurate tracking (within 1” of actual hand
position)▪ Adequate range of motion (> 2’x2’x1’ tracking
area)▪ User Control Board should implement: on/off,
emergency stop, pause/resume
Department of Electrical and Computer Engineering
![Page 6: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/6.jpg)
6enter Dept name in Slide Master
CDR Deliverables▪ Integration of base motor into control algorithms to
provide positioning in 3DOF▪ Integration of gripper into system: Gripper state
(open/closed) will be controlled by the user opening and closing their hand
▪ Implementation of live video feed from arm to user allowing them to use the arm remotely
▪ Arm will perform task as described in specifications slide within the 5 min timeframe
Department of Electrical and Computer Engineering
![Page 7: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/7.jpg)
7enter Dept name in Slide Master
FPR Deliverables▪ Fully integrate PCB into motor controller circuit (Dan)▪ Fully integrate user control board (Joshua)▪ Address Leap motion tracking volume issue (Joshua)▪ Improve grip tracking accuracy (Joshua)▪ Address depth perception issue on video feed (Corey)▪ All specs described in slide 4 will be met (Jacob+Corey)▪ Improve tracking accuracy/precision (Jacob)▪ Wire management (Jacob)
Department of Electrical and Computer Engineering
![Page 8: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/8.jpg)
8enter Dept name in Slide Master
FPR Deliverables▪ Fully integrate PCB into motor controller circuit (Dan)
▪ Fully integrate user control board (Joshua)
▪ Address Leap motion tracking volume issue (Joshua)
▪ Improve grip tracking accuracy (Joshua)
▪ Address depth perception issue on video feed (Corey)
▪ All specs described in slide 4 will be met (Jacob+Corey)
▪ Improve tracking accuracy/precision (Jacob)
▪ Wire management (Jacob)
Department of Electrical and Computer Engineering
![Page 9: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/9.jpg)
9enter Dept name in Slide MasterDepartment of Electrical and Computer Engineering
![Page 10: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/10.jpg)
10enter Dept name in Slide MasterDepartment of Electrical and Computer Engineering
Cost of MaterialsFor One For 1000
● 8020 Aluminum (10ft) $35 $10● Gripper System $50 $20● Stepper Motor $158 $100● Linear Actuator (2) $260 $150● Servo Motor $5 $2● Raspberry Pi $35 $20● Custom PCB (2) $60 $10● Motor Driver $28 $12● Leap Motion $60 $40● Webcam $35 $15● Power Supply $30 $10● Mounting Hardware $30 $5
Total: $786 $394
![Page 11: Final Project Review Team 5: Helping Hand SDP ‘18 · 2018-05-14 · Final Project Review Team 5: Helping Hand SDP ‘18 Team Members: Corey Ruderman, Dan Travis, Jacob Wyner, Joshua](https://reader033.vdocuments.us/reader033/viewer/2022042223/5eca29077213a25c807eb3e2/html5/thumbnails/11.jpg)
11enter Dept name in Slide Master
Demo
Department of Electrical and Computer Engineering