Dr. Stacy Bamberg Faculty Advisor

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Dr. Stacy Bamberg Faculty Advisor Dr. Bruce
MacWilliams Industry Advisor Dante
Bertelli dante_at_g6net.com Brad Hansen bch2000_at_ho
tmail.com Joseph Alston jda12_at_utah.edu Chad
Taylor jchadtaylor_at_hotmail.com
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Outline

• Schedule
• Budget
• Mechanical Design
• Electronic Design

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Schedule

• Hip Manufacturing Complete
• Knee Designed
• Manufacturing Due April 1
• Electronics Due Design Day

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Budget

• Revised for Electronics
• Total 1,000.00
• Used 90.00
• Mechanical Components 210.00
• DAQ 275.00
• Electronic Components 425.00

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Mechanical Design
Lower Limb Model

• Hip Manufacturing
• Knee Design
• Foot Redesign
• Leg Members

Hip
Knee
Leg Members
Foot
ProE Drawing Courtesy Brad Hansen
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Mechanical Design Hip
Manufactured Hip

• Manufacture Complete
• Design Functional
• Optical Encoders to be Mounted

Image Courtesy Brad Hansen
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Mechanical Design Knee
Knee
Upper Leg

• Design Complete
• Materials Ordered
• Manufacturing to Start Next Week

Fork
Patella
Axis
Lower Leg
Knee Bent
Upper Leg
Fork
Clearance
ProE Drawings Courtesy Brad Hansen
Lower Leg
Patella
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Mechanical Design Foot and Leg Members
Foot

• Foot to be Redesigned
• Leg Members to be Ordered

Motion Axes
Leg Members
Telescopic Tubing
ProE Drawings Courtesy Chad Taylor Image
Courtesy www.testrite.com
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• Incremental Encoder E4P-256-250-H

• Low cost
• Miniature size
• Push-on hub - spring loaded collet design
• Minimum shaft length of .375"
• Shaft diameter of 1/4"
• High retention snap-in polarized connector
• Accepts .020" (.5mm) axial shaft play
• Tracks from 0 to 30,000 cycles/sec
• 256 cycles per revolution (CPR)
• 2 channel quadrature TTL squarewave outputs
• -10 to 85C operating temperature
• Single 5V supply

Image courtesy http//www.usdigital.com
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Data Rates

• 256 Cycles per revolution
• 120 revolutions per minute
• Using quadrature TTL squarewave
• Sample rate of 2kHz per channel
• Each encoder consist of 2 channels (A B)
• The Lower limb needs to have 6 optical encoder
  installed.
• Total Sampling Rate 2kHz2(channels)6(optical
  encoders)
• 24kHz

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Transmission line to computer

• Wireless (RF)
• Serial (RS-232)
• Fiber optics (Soundcard)
• Embedded Compact Flash Card
• USB DAQ

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Transmission line to computer

• Wireless (RF) or Serial (RS-232)
• Interfacing with dsPIC30F Family
• Only two optical encoder per PIC.
• Data transmission over serial/wireless.
• Custom PCB needed.

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Transmission line to computer

• Fiber optics (Soundcard)
• Digital signal processing needed.
• Multiple chips needed
• Team is made of MEs not EEs.

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Transmission line to computer

• Compact Flash
• Interfacing with dsPIC30F Family
• Only two optical encoder per PIC.
• Custom PCB needed.

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Transmission line to computer

• USB DAQ
• Easy to use
• Advanced expertise inside group
• Suitable data rates
• Predictable
• USB Extension

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Transmission line to computer
USB DAQ

• National Instruments
• USB-6501 (Full digital)
• 24 Digital lines
• USB-6009 (Analog/Digital)
• 48 kS/s
• 12 Digital
• 12 Analog lines

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Data Processing
LabView
SignalExpress
Matlab
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Conclusion

• On-Schedule
• Budget is Adequate
• Mechanical Design
• Hip Manufactured
• Knee Designed
• Foot and Leg Members in the works
• Electronic Design
• Optical Encoder
• Data Transmission
• Data Processing

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For Further questions contact our Team
Leader Dante Bertelli at dante_at_g6net.com