Project Specifications:

Assistive Robotic Arm

By:
Danielle McGeary
Megan Madariaga
Asma Ali

Client Contact:
Merriam Kurland
Speech Pathologist
Hampton Elementary School
263 Main Street
Hampton, CT 06247
(860)-455-9490
Introduction
The purpose of this project is to create an assistive mobility device to provide an
intelligent fifth grade student with more independence within his integrated classroom
setting. The client suffers from Quadriplegia Athetoid Cerebral Palsy; a debilitating
syndrome stemmed from a defect in the motor cortex of the brain that can severely impair
motor muscle control in various parts of the body. The client has a severe form of this
disease. He is confined to a wheelchair and is unable to communicate verbally since he
possesses no articulation control. Because of this, the client is unable to prevail fully in
his classroom setting. While he is astute and fully capable of completing any work
assignment, his physical impediments set him back immensely. Since the client only has
very minimal control over his right arm and no control in his left arm, he is forced to type
all assignments on a computer using only his index finger. This often poses an obstacle
for the client since he is required to type very forcefully in an inverted position. This
slows the client’s progress and fatigues his arm greatly. The client is also incapable of
feeding himself and grabbing objects. The device being created will help the client over
come these barriers. The device being created will be a mini robotic gripping device that
will attach to the client’s wheel chair. The device will be controlled by buttons, with a
high spring constant, and joysticks. It will also have a 360 degree rotating base, a hinge
joint, resembling the elbow, and a shoulder joint that is capable of 180 degree rotation.
These joints will provide the client with all six degrees of freedom that the arm is capable
of obtaining. It will also provide the client with a means of eating and obtaining objects
independently.

Realistic Constraints
Economic
A major economic constraint for the project is the budget. The budget allot for all
design projects sponsored by the National Science Foundation is 750 dollars. This is a
concern since many assistive mobility products on the market upwards of one thousand
dollars. The budget places a limit on the versatility and sophistication of the completed
device.

Environmental
Environmental constraints include variations in weather and temperature. The
device must be able to withstand moisture in the form of precipitation or humidity. Also,
the device should be able to function flawlessly in extreme temperatures. The device
should also not breakdown when relocating to an area of opposite climate. Since the
client is in an elementary school environment, there is a strong possibility of accidents
with food and beverages. The device should not malfunction and should show no signs of
corrosion if this were to happen.

Sustainability
The device should be composed out of a durable and corrosive resistant material
such as steel or aluminum. These materials are both extremely robust and are ideal for
mechanical applications involving stress and strain. They are relatively cheep and easy to
obtain. The device should also be weather proofed at any joints as a precautionary act.

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Manufacturability
If this device were to be manufactured for a company, the device would have to
be made custom to fit the needs of each individual client. This particular device will be
manufactured for a child who only has control of his right hand. This specificity poses a
manufacturing discrepancy since some clients may only have control limited to their left
hand. Also, other clients many have severe impairments that limit them to the usage of
only a solitary finger. The device would have to be adaptable for any of these
circumstances in order to be truly effective and sold on the market.

Health and Safety Concerns

The device must not only be safe for the client to use, but should not pose a
potential injury to any of the client’s surrounding peers. The device should not be capable
of producing any form of an electrical shock or impulse under any circumstance. The
device should also have a safety release mechanism incase it were to become attached to
any part of the client’s body. The current running through the motor should be kept
within a narrow limit so that the device will not over heat or become extremely hot.

Social
Socially, the client never wants to deviate from the norm. With an assistive device
it is hard to make a disability inconspicuous. Also, even with this assistive device, the
client will never be capable of accomplishing complete independence. In some cases,
individuals may be derogatory to those with impairments. This could cause frustration to
any client and may cause the device to not appear as appealing.

Political
It is also important that all FDA and OSHA regulations be followed in the
creation of this device. It is not uncommon for the government to step in if they feel that
a device is doing more harm then it is good. Also, paten infringement is always a
lingering concern. It is crucial that the device being created does not mimic any other
device too closely.

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Technical Specifications

Electrical Parameters
Battery Life 48 Hours (Rechargable)
Power Suppily 24V DC
3A (peak)
1.5A (nominal)
Maximum Rotational
Velocity 15 degrees /sec
Maximum Velocity 6 cm/sec
Repeatability 5mm

Motor
Voltage 6V-16V
Shaft Diameter 6mm
Body Length 11.7cm
Speed 300RPM

Mechanical Parameters
KeyPad
Button size 3.08cm x 3.08cm x 3.08cm
Pressure .83N activation
Weight 1.5lb
Life Span 1 million punches

Grippers
Grasp Force 10N
Max Opening 9cm
Length 4.62cm
Weight 1.7lbs

Base
Weight 4.3lbs
Diameter 6.16cm
Height 4.62cm
Rotation 360 Degrees

Upper Arm Length 23.1cm

Upper Arm Weight 4.5lbs
Lower Arm Length 23.1cm
Lower Arm Weight 4.5lbs

Total Reach 55.44cm

Total Weight 15lb
Degrees of Freedom 6

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Environmental
Parameters
Temperature 5 Degrees C to 50 Degrees C
Humidity less than 90%
Storage Temperature 20 Degrees C to 60 Degrees C