Notebook Category
Weekly Meeting 10 (2/18/19)
Feb. 19, 2019—Prosthetic Hand Update Kevin (contact from Emily) connected with third party in the US who should be able to identify correct path moving forward For time’s sake: SERVO Motor to be ordered this week Need to match properties of the hand PWM actuation Hold angle once the signal ceases as current velocity-based systems do Algorithm...
Serial Output for Myoware Sensors
Feb. 13, 2019—First Visualization of Myoware Sensors The relative ports for each of the myoware input/outputs for serial observation of the output forms. This is without internal feedback, that is each sensor is outputting to independent analog ports to be read. Theoretically, both sensor positive nodes could be soldered to the same 3.3 V node in the...
Progress Report 5 (2/13/19)
Feb. 12, 2019—Previous Goals Our prior goals included writing a protocol for EMG studies with myoware sensors (such as how to test and where to place electrodes). We also strived to investigate EMG signal interpretation and analysis, reading existing literature to map expectations of movement. We further investigated PID behavior with manipulated variables creating sine and step...
Weekly Meeting 9 (2/11/19)
Feb. 11, 2019—Prosthetic hand update They say that we need an account number Emily will email her contact and cc Shaan If this doesn’t work, it might be best to show proof of contact with a servo motor Disclaimer: it may be more work Would have to recreate current control scheme Should start finding a motor Myoware...
PID Observations
Feb. 10, 2019—PID Observations General behavior Characteristics: Higher Proportional Control = Operates at defined setpoint Higher fraction control here to force the fight between muscle activation and relaxed hand posture Lower Proportional Control = Infinite rise in output value (operating in the single digits results in 10^6 outputs) Higher Integral Control = Infinite rise in value although...
Weekly Meeting 8 (2/04/19)
Feb. 4, 2019—Prototype 3D printed box to hold the battery and teensy board In future iterations: might add curvature Ottobock hand Servicing will take a while (2-week delay) Hand does not have a warranty Ottobock still appears to be misunderstanding what the project is for Worthwhile to send it to Ottobock Make sure they know it is educational...
Progress Report 4 (1/30/19)
Jan. 29, 2019—Previous Goals Our goals from our last progress report to this point included the following: We needed to finalize purchase orders for the hardware to be used in our project (such as the Myoware sensors, Arduino, and Teensy board). Additionally, we were to find contacts at Ottobock to determine how to proceed with repairing our...
Initial PID Behavior Observation MatLab Code
Jan. 29, 2019—Matlab Code used for initial PID behavior observation. Several different constants and graphical outputs were observed with a step function to see how the controller outputs would change with time. Will be used if Matlab communication with teensy board is made available through Matlab features Useful information regarding MatLab to arduino transformation: https://www.mathworks.com/help/supportpkg/arduinoio/getting-started-with-matlab-support-package-for-arduino-hardware.html % PID...
Weekly Meeting 7 (1/28/19)
Jan. 28, 2019—Ottobock hand – moving forward: Shaan received a contact for “professional services” Kevin Kelly — Case contact Emily is going to email him and cc Shaan They have another hand, just would require an extra component (a post) Presentation Natural muscle control slide – shows 3 key features Sensory motor control might be better term...
Weekly Meeting 6 (1/21/19)
Jan. 21, 2019—Hardware Sponsor has gotten product serviced before by Ottobock Forward her any emails from OB and follow up about contacts she’s used for servicing in the past 3D printing job should be done by tomorrow Algorithm Updates on conversation with Dr. Withrow: Algorithm = EMG differential: only 2 EMGs, but the Myoware does pre-processing...
PID Controller Notes
Jan. 20, 2019—Resources: https://www.omega.com/prodinfo/pid-controllers.html https://www.omega.com/prodinfo/how-does-a-pid-controller-work.html https://www.quora.com/How-would-I-implement-a-PID-controller-code-in-a-microcontroller https://en.wikipedia.org/wiki/PID_controller#/media/File:PID_en.svg
GANTT Chart Progression
Jan. 19, 2019—Links to GANTT charts showing project design plan progression: Preliminary GANTT chart (11-14) Updated GANTT chart (1-17) Final GANTT chart (4-03)
Weekly Meeting 5 (1/14/19)
Jan. 14, 2019—Hardware Shaan called Ottobock Even on the highest settings, there isn’t enough gain for the arm to contract Everything else seems to be working Will call them back today Advice from Emily May not be enough current to drive it Might be a power issue Try hocking battery supply straight to electrodes Should check with...
Block and Flow Diagrams
Jan. 13, 2019—Hardware Block Diagram Block Diagram– Version 1 Block Diagram- Final (below) Intent Interpretation/Algorithm Block Diagram Algorithm Block Diagram– Version 1 Algorithm Block Diagram- Version 2 (below) Algorithm Block Diagram- (FINAL, below)
Weekly Meeting 4 (12/04/18)
Dec. 4, 2018—Completed: Disassembled prosthesis- we were unable to get the hand to move at all. We hear a faint beep coming from the motor but no actuation. Shaan will be troubleshooting this to determine if the motor is the problem over winter break, so any suggestions you have would be greatly appreciated! Meeting with Vanderbilt mechatronics/control...
Progress Report 3 (11/15/18)
Nov. 15, 2018—Previous Goals This past week, one of our goals was to continue our literature review, which was extended to include a patent search, to continue to build a base of knowledge on the relevant subjects and begin brainstorming possible design routes. Another goal was to complete block diagrams to layout the hardware, software, and...
Weekly Meeting 3 (11/13/18)
Nov. 13, 2018—Progress Update Helpful to send materials by 9am at the latest on Tuesdays Lit review/patent search Oral Report Contains all important progress so far Components: Slide 5: overview so far–includes problem statement Slides 6-9: needs assessment Slide 10: Project approach Slides 11-12: timeline and lit review Slide 13: hardware block diagram Update slide: change colors...
Electronic Sources
Nov. 13, 2018—Myoelectric Prostheses: Ottobock: Myoelectric Prosthesis 101. “Myoelectric Prosthetics 101.” Ottobock., www.ottobockus.com/prosthetics/info-for-new-amputees/prosthetics-101/myoelectric-prosthetics-101/. -Information from Ottobock about one of their myoelectric prostheses formatted for patients that are looking to purchase the system. Includes explanation of how the system works and is powered as well as potential features. Moving forward, this is an important source because the myoelectric...
Weekly Meeting 2 (11/07/18)
Nov. 7, 2018—Updates Shipping arm tomorrow Literature Review In progress Begin a patent search Goal: to be done by the end of next week Send to Emily Questions Are the myoelectric controllers (myowaer muscle sensor) integrated into the prosthesis, or do we have to buy those along with the electrodes? Not necessarily the same for every device...
Patent Landscape
Nov. 7, 2018—Patent Landscape- Force Based Controller for Myoelectric Prostheses Novelty of Device: Force-based controller Biomimetic muscle activity to hand posture coupling Dynamic, continuous proportional control Overview: A preliminary patent search yielded a fairly open patent landscape for this device. Among the patents found and considered relevant, the claims used were specific to the mechanical hardware of...
Weekly Meeting 1 (11/01/18)
Nov. 1, 2018—Documentation Look into the verification and DHF and DSF files and what are the requirements from the Vanderbilt University requirements Overview of project: Two types of prostheses: body powered (functional and durable but don’t look like a hand and hard to perform complex motions) and myoelectric Myoelectrics: single range of motion, mechanics of the hand...