1. CRABWISE
innovations
January 7 – 29
Deliverables

2. Nov 28-Dec 18
Task 1: Understanding the
problem
Immersion Story
Interview/observation In order to
 Person with quadriplegianeeds of users
of… understand…
 DaVinci Surgery armshortcomings of
Person with Quadriplegia Needs of users
orthogonal systems
DaVinci Surgery Arm Shortcomings of orthogonal
 TIRR wheelchairs (Monday, Jan
systems
28)compatibility concerns
TIRR Rehabilitation Center Compatibility with
(Monday, Jan 28th) wheelchairs

3. Task 4a: Create linkages
 All linkages designed in SolidWorks
PICTURES OF SolidWorks LINKAGES BESIDE
KinSim ONES

4. Task 4a: Create linkages
PICTURE OF FULL ARM SolidWorks BESIDE
FULL ARM KinSim

5. Task 4b: Print and evaluate
viability for construction
2 linkages (1 joint) printed on 3-D printer
 Plastic deemed viable for construction

7. Task 5a: Research Actuators
Specifications
Actuator
Dimension(in) Torque to Weight Position
Choices
<[1.3x0.8x1.2] ratio (oz) High Sensing
Nema 8 Micro 5.7(@6v):2.82 Not built-in
Stepper 0.79x0.79x0.96 = (but
motor 2.02:1 accurate)
59.7(@6v):0.77 Built-in
HS-5085MG 1.14x0.51x1.18
= positional
Servo
77.53:1 feedback
Built-in
HS-5065MG 30.55(@6v):0.42
positional
Servo 0.92x0.45x0.94 =
feedback
72.73:1

8. Task 5b: Purchase and Test
Selected Actuator
 Purchased Hitec HS-
5085 MG Servo
 Tested similar servo and
potentiometer

9. Jan 30- Feb 19
Task 6: Create Programming to
Control the Arm
 Have begun learning arduino
programming
 Created programming to control 1 servo
and read 1 potentiometer

10. Jan 30- Feb 19
Task 7: Construct and test
prototype
 Works-like prototype of joint:
 Models a hinge-connection method for
joints of the arm
 Tests servo mounting strategy
 Allows a potentiometer to be used for
positional feedback if required

11. Jan 30- Feb 19