Behind the Scenes of Reach to Grasp Research

Behind The Scenes Of Reach To Grasp Research

Petroula N KaragiannisUniversity of Minnesota-Fall 2006Advisor: Dr. Timothy Ebner, MD PhD

Department of NeuroscienceCo-Advisor: Jodi Prosise

Department of Biomedical Engineering

Directed Research-BMEn 4710

Outline

In depth examination of procedures and everyday tasks critical to conducting the Reach to Grasp research.

Investigation Requirements: Non-human primates Objects Matlab Program EMG Electrodes Motion Analysis

The importance lies in the understanding of the daily challenges encountered by the team, which may be overlooked at times.


Primary Objectives

Repair, verify and calibrate objects Design a Matlab Program Develop and test electrodes


Prosise 2006

Repairing Objects Materials Needed:

Screws O-rings Force sensing resistors Allen wrench Wire cutter/striper Heat shrink Needle nose pliers Standard rosin core solder Electrical and padded tape Solder tool stand/iron Scissors Screw driver Colored wires Alcohol wipes Connectors and housing Prosise 2006


Set screw

Force sensorO-ring

Main object piece

2ndobject piece

3rdobject piece

Set screw

Force sensorO-ring

Set screw

Force sensorO-ring

Main object piece

2ndobject piece

3rdobject piece

Verifying Objects

Equipment Needed: Banana plugs Relay box Weights (1-1000 Kg) Heavy bottles Start pad NStudio calibration file

Prosise 2006


Calibrating ObjectsWeight (grams) Force (N) Sensor 1 (Volts) Sensor 2 (Volts)

1 0.009806 0.1 0

2 0.019612 0.3 0.1

5 0.04903 0.5 0.7

10 0.09806 0.9 0.7

20 0.19612 1.5 1.3

50 0.4903 2.3 2.2

100 0.9806 2.9 2.7

200 1.9612 3.2 3.1

500 4.903 3.5 3.8

1000 9.806 3.9 4

Object 18 Calibration Data Sample


Calibrating Objects

Object 18 Calibration Graph Sample


Calibration Curve: Object 18

0

2

4

6

8

10

12

-1 0 1 2 3 4 5

Force Sensor Voltage (Volts)

Fo

rce

(N

ew

ton

s)

Force Sensor 1

Force Sensor 2

“rangen” 2 trays ~ 8 objects 1 tray ~ 7 objects Recording purposes

2 x 3 trays 23 objects

“rangen” Randomizes objects and trays Indicates duplicated column

numbers Error checking

Prosise 2006


Object

Robot

Object Tray

Object

Robot

Object Tray

“rangen”-Random Numbers Generates a random matrix of a specified size and element interval

without repeats in the columns of the matrix.

function rangen() clear all;

clc; Objects_to_randomize = input('Enter the number of objects you

want to randomize:') Days = input('Enter the number of days you want to output:') Trays_to_randomize = input('Enter the number of trays you want to randomize:')

[ignore, objects] = sort(rand(Objects_to_randomize, ceil(Days))) [ignore, trays] = sort(rand(Trays_to_randomize, ceil(Days)))


“rangen”-Duplicate Number Detection First_set = objects([Start_position:Stop_position],

First_column) Second_set = objects([Start_position:Stop_position], Second_column)

Duplicate_objects = intersect(First_set, Second_set) Changing_objects = setdiff(First_set, Second_set)


“rangen”-Sample Output

Enter the number of objects you want to randomize:5 Objects_to_randomize = 5

Enter the number of days you want to output:3 Days = 3

Enter the number of trays you want to randomize:5 Trays_to_randomize = 5

trays = 1 4 2 4 1 5 5 5 1 3 2 4 2 3 3

objects = 2 3 5 4 5 1 3 2 4 5 1 2 1 4 3


“rangen”-Sample Output

First_set = 2 4 3 Second_set = 3 5 2

Duplicate_objects = 2 3 Changing_objects = 4


EMG Electrodes Requirements

3T wires ~ 3-4 ft long Twist 2 wires ~ Drill Hypodermic needle ~ Gage 25

Specific manufacturer Procedures

Dull edge ~ Gage 27 Flush H2O ~ Syringe Insert wire ~ Gage 25 Strip Teflon coating ~ 1 mm and 0.5 mm Pull back wire ~ 1.5-2 mm

No contact Verification

Test for signal ~ success!


Closure Advancement and completion of the research conducted by the

Reach and Grasp team. References/Acknowledgments:

Dr. Timothy Ebner, MD PhD Jodi Prosise Dr. Claudia Hendrix, PhD Dr. Carolyn R. Mason, PhD Sarah Jacobson Mahdi Khorasani Group at Ebner Lab

Thank you! Questions/Comments?

[email protected]


Mmm, this hair net sure feels tight…

Behind the Scenes of Reach to Grasp Research

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