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Design of Customized Articulated Assistive Devices

GRASP. Laboratory. Design of Customized Articulated Assistive Devices. Vijay Kumar Professor Mechanical Engineering University of Pennsylvania Philadelphia. Peng Song Graduate Student University of Pennsylvania. G. K. Ananthasuresh Assistant Professor University of Pennsylvania.

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Design of Customized Articulated Assistive Devices

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  1. GRASP Laboratory Design of Customized Articulated Assistive Devices Vijay Kumar Professor Mechanical Engineering University of Pennsylvania Philadelphia Peng Song Graduate Student University of Pennsylvania G. K. Ananthasuresh Assistant Professor University of Pennsylvania Venkat Krovi Assistant Professor McGill University

  2. 2000’s: Customized design and manufacture • Human-worn products (helmets, hearing aids, eye-glasses, wearable computers • Human-worn assistive devices for manipulation Design and manufacturing: customization • Manufacturing paradigm • 1900’s: Mass production and fixed automation • 1980’s: Flexible automation, agile manufacturing • 1990’s: Mass customization

  3. Design Tradeoff Adjustable Larger lot sizes Life cycle design General Purpose Larger lot sizes Multifunctional Versatile Programmable Adaptable with time Adjustable • Customized to specific user • Product volume is one • Better performance Passive, Customized, Assistive Devices

  4. Robots as Assistive Devices • MANUS: Wheelchair mounted robot arm DEVAR: Desktop robot for office environments RAID: Robot workstation for vocational support Helping hand Sidekick Handy 1

  5. Robots as Assistive Devices • Robotic aids • Versatile, general purpose • Expensive • Awkward, bulky; a “distraction factor” • Lack of proprioceptive feedback • The real need • Passive, possibly power-assisted • Physically linked to the user • Inexpensive • Less versatile

  6. Assistive Devices for Feeding Handy I Winsford Feeder

  7. Examples of One-of-a-kind Human Worn Assistive Devices

  8. Head Controlled Feeder

  9. Wearable Robot • Head-controlled • Four-degrees of freedom • Maps head movements into the movements of the arm

  10. Customized Design and Manufacture • Keys to cost effective customization • Automated data acquisition • measurement of the human user, the task, and the environment. • Automated synthesis, optimization, and optimization of mechanisms • mechanism for generating the desired “output” motion/force from the specified human “input” motion/force • Virtual design and prototyping • Geometric and dynamic modeling of the human user • Model of the designed product • Simulation of the human using the product prior to fabrication

  11. Mechanism Design Desired Output Motion/Force Human Input Motion/Force Input Subsystem Coupling Subsystem Effector Subsystem

  12. Effector Toolbox Coupling Toolbox Choice of Mechanisms: Type Synthesis Desired Output Motion/Force Human Input Motion/Force Input Subsystem Coupling Subsystem Effector Subsystem Input Toolbox

  13. Dimensional Synthesis and Optimization • Example: Use of head pitch movement to control the orientation of the feeding utensil • Parameterization of motions • Optimal choice of linkage parameters

  14. Design Environment • Unified framework for design, analysis, and simulation • Graphical, user-friendly. • Heterogeneous data. • Modular, standard packages/formats.

  15. Hand drawn curve Scalene triangle Examples of Paths Generated by a Three-Link Planar SDCSC • M=9 evenly spaced precision points • Number of equations = 26 • Number of equations = 26

  16. Kinetostatic Synthesis of SDCSC Mechanisms • M=2 precision points • 6-M = 4 free choices • Two boundary conditions on torque • Two free variables for optimization Position 1 Position 2

  17. Three Point Position Synthesis • M=3 precision points • 6-M = 3 free choices • Three free variables for optimization • 1 N force

  18. Three Point Position Synthesis • 5 free variables for optimization • Desired trajectory • Trajectory generated by a candidate mechanism • Goal:

  19. Summary • Key Ideas • Passive, articulated aids in rehabilitation engineering • One-of-a-kind products customized to individual users • Virtual prototyping is absolutely essential for the manufacture of one-of-a-kind products • Contributions • New paradigm for design and prototyping of assistive devices • Design interface for virtual design and prototyping • Creating synthetic prototypes of the user “wearing” the product • Theory for coupled serial chain mechanisms

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