Project Proposal

Week 14 was limited to one class. During this period, a draft of the project proposal was written up and can be seen in the scanned notebook below. This includes the project deliverables, milestones, and WBS.

Scanned Notebook: Week-14

Week 13 consisted of project management information. Information was given to the students about the project proposal and what should be included when the document is written up. Additionally, DC motors will not be used to drive the shoulder. This is due to limitations in the movement. Instead higher torque servo motors that can rotate 180 degrees will be ordered. As of now it is the HITEC HS-805MG. 

Scanned Notebook: Week-13

This week was designated to achieve a smooth movement of the hand and arm. We found that it is best to use a 20 ms delay between steps of the servos to make the movement look more smooth. We found that the shoulder servos will not support the desired movement. It doesn’t have enough torque to support the weight of the arm and also doesn’t rotate a full 180 degrees. This limits the use of the prosthetic arm and doesn’t fully mimic a human arm. Therefore, we decided to replace the shoulder servos with DC motors. Research was done this week too to find what servos are attached to the arm and the voltage range they are allowed. The last page in the scanned notebook found below is the week update presented to the class and instructor. 

Scanned Notebook: Week-12

This week was used to research frequencies related to EMG/EEG signals. We found from the brain stem study results that the signals send at 1 kHz and the values range from +- 1.3 mV. Also, we found that we need an analog to digital converter and the Raspberry Pi does not have one so a shield that offered this function was ordered. 

Scanned Notebook: Week-11