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Scalable Robotic Limb: Advanced Finger Motion Modeling with Air Pressure Control

This project aims to develop a scalable robotic limb that accurately models the degrees of freedom of human fingers. Utilizing compressed air muscles, the system converts air pressure into force, enabling precise finger movements. Key functionalities include advanced pressure sensing and a robust communication interface between software and hardware components. The design incorporates a bi-directional solenoid valve and mechanical control systems to manage air pressure efficiently. Materials such as carbon fiber and silicone tubes will ensure durability, while advanced control systems will facilitate scalability and effective input-output energy management.

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Scalable Robotic Limb: Advanced Finger Motion Modeling with Air Pressure Control

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  1. “Develop a Scalable Robotic Limb that Accurately Models All Degrees of Freedom of the Fingers.”

  2. Sub-functions • Converting air pressure into a required force. • Pressure Sensor • Communication/Interface between Software and Hardware • Scalability

  3. Overall “Black Box” Input Output Energy Energy Air Pressure Force Nominal Air Muscle ROBOTICLIMB Material Compressed Air muscle Pressure Sensing Control Pressure Control

  4. Accept air pressure from source Convert air pressure to force In Air muscle Energy Un-flexed Air muscle Contracted Air muscle Finger Motion Modeling All D.O.F. Material Pressure Control/ Feedback Pressure sensing Control

  5. Concept Generation: Part 1 BI-Directional Solenoid Valve Electrical Control Variable Solenoid Valve Accept Air Pressure From Source Energy Pneumatic Ball Valve Mechanical Control Toggle Valve

  6. Concept Generation: Part 2 Carbon Fiber Plastic Mesh Metallic Silicon Tube Balloon Un-flexed Air Muscle Material Rubber Hose Connector Push-to-Connect Compression Fitting Plug Connector Plastic Magnetic

  7. Concept Generation: Part 3 Gauge Mechanical Flow Meter Pito Tube Control Pressure Sensing Labview Data Acquisition System Simulink Electrical Digital Gauge

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