2. Brief Review
Encoders, pressure sensors and
flex sensors coupled together
mimicking a particular joint in the
human body
Encoder/flex sensor detects the
speed and direction of change
Pressure sensors map the different
pressure points in the limb
3. Brief Review
Controller sends an amplified signal to
the high-torque CNT Actuator.
As the required position is reached the
pressure sensors show negative
reading as the person tries to slow
down the hand
Actuator decelerates and holds it
position
4. Similar Projects around the World
• General Electric Corporation
designed “Hardyman” was
the first in series, but it was
expensive, bulky, unstable
and unsafe for the user
• Los Alamos National
Laboratory designed Pitman
using polymer gel muscles.
weighs 230 Kg., and is
capable of carrying a load of
135 Kg
Human Enhancers
have been in word
since 1960’s!
5. Similar Projects around the World
• Another design concept that involves pneumatic
actuators at each of the body joints.
• Connects to the human operator by means of an
umbilical cable, housing a set of power wires
and tubes.
Jedi
• Hydraulic robot manipulator that operates in
direct contact with the operator and it is worn
like a suit.
Human Extender
8. Pressure Sensors and Encoder
• Low pressure range
• High Sensitivity
• Flat surface and compact
dimension makes it perfect to
be embedded in suit.
• 0-0.02 bar is the optimal
Value
• 0-0.1 Bar limit
SpiraxCirco Pressure Sensors
• High Sensitivity
• 1024counts/rotation -Scale
to 300 C/R
• Autonics EPM50 Series
• Interfaced using SPI
Encoder
9. Electronic Interface Connections
+ Vcc
R Encoder
Microcontroller
Actuator
Op-Amp
Comparator
-
+
Channel A
Channel B
Pressure Sensor
+To Vcc
Current
reading
Actuator
Driver
15. Basic Arm View
To shoulder
joint
To wrist
joint
Muscles for Axial
Rotation
Muscles for Axial
Rotation
Muscle for Elbow
Joint Rotation
Encoder
16. Artificial Muscles
Electronic Carbon
Nanotube Aerogel Muscles
Electro-Polymer Muscles
Higher Actuation Rate – about
3*10^4
High Stress Generation
Capability- about 3.2 MPa
compared to 0.1MPa in Normal
Muscles
Thus Actuation is 32x!
Higher Actuation Rate – about 20%
compared to 50% for Natural
Muscles
High Stress Generation Capability-
about 1-32MPa compared to 0.1MPa
in Normal Muscles
Degrades at high Voltage
From
Environmental
Robots Inc.
17. CNT Aerogel Muscle Actuation
𝑭 = 𝑨 ∈ +𝑩 ∈ 𝟑 The strain, ∈ depends on voltage as ~𝑽 𝟐
for small ∈ and as ~𝑽 𝟐/𝟑 for large ∈.
Three directions of actuation:
- Width direction
- Thickness Direction
- Length Direction
We will use length direction due
to its structural feasibility and
higher stress capabilities.
18. The strain produced is directly proportional to the square of applied
voltage ~𝑉2 for lesser strains and ~𝑉2/3 for higher strains for a particular
value of the aspect ratio 𝑙 𝑤 . The strain increases with increase in the
aspect ratio of the CNT muscles.
Strain – Voltage relationship for lower and higher applied voltages
CNT Aerogel Muscle Actuation
19. At a Maximum applied voltage of 1.2 KV maximum stress generated is 2
𝑀𝑃𝑎 𝑐𝑚3/𝑔 for an aspect ratio of 26 (for 1 𝑐𝑚2 cross sectional area l=26cm
and w=1 cm) . Thus 200N of force can be generated at the elbow joint.
CNT Aerogel Muscle Actuation
Density Required=
0.8gm/cm3
Volume of CNT Muscle=
1*1*26cm3=26cm3
Thus Weight = 20.8gms
for each joint.
For Both Arms,
TOTAL= 166.8gms
20. High voltage power supply
• I/P Voltage/ Current:- 11V to 16V dc, 250
mA max
• O/P Control:- By external 5k ohm
potentiometer or external control
voltage(0-6V)
• Protection:- Overload, Arc and continuous
output short circuit.
• Temperature Range:- Operating:- (-10 to
50) degree Celsius Storage:- (-25 to 85)
degree Celsius
• Weight:- 120 g
• Regulation:- Line: +/-0.01% of max
Voltage Load: 0.01% of max voltage for
full load change.
From MATSUSADA
24. Technology Used
Retina Tracker Tracks the
eyeball movement for Pointer
Location
A small display bar at the top
right end for overlaying
display…
Camera for processing
Images being seen
25. OLED Screen with Binocular Vision
• Transparent OLED Screens can be used to
cover the entire glass. For Clear vision, using
reverse binocular mechanism, we can create
the virtual image of the screen at 25cms from
the eye.
Concept
• Transparent OLED from 4D Labs embedded
with GOLDELOX processor
OLED Screen Chosen
26. Reverse Binocular Vision Technique
Reverse binocular effect takes an image near the eyes and produces a
virtual image at a distance of 25cms i.e. the least distance for distinct
vision.
Such a technique will overlay the screen image with the surrounding
without any strain on the eyes.
27. Finger-Tip Recognition
Detection of Finger Tip Using ANN and Sliding Windows
Detector (MATLAB Environment)
1023 223 453 456 232 …
1023 223 453 456 232 …
1023 223 453 456 232 …
Using Back Propagation
to train the neural
Network
Accuracy =
99.3%
30. Location-Based Reminders
Set
Reminder
• According to location
• According to Schedule
GPS input
• Search for locations for completing
reminder
Ping User
• Provide navigation and instructions
according to reminder whenever
user is near to set locations
31. Personal and Interesting Applications
• Basic Info
• Personal interesting apps
Person Profiling
• Recognizing Monuments
• Recognising Objects in Shops
Unknown Objects and
Institutions search
• Health, Calories, heart beat
• Medical assistance and SOS
Personal Assistance
32. The Full Integrated Wearable
Assistant
Combination of Enhancer Exoskeleton and ArtIOS Glass
is an ideal suit for military applications:
Strength Enhancement
• Increase Endurance
• Increase Performance
Wearable Smart-Phone
• Provide Detailed Map
Overview
• Information about
oncoming Enemy
• Detailed Location Search
for SOS and Medical
Needs
33. Detailed Cost Estimate
CNT Aerogel Muscle Mass = 166.4gms for 2 arms
CNT Cost/gm = Rs. 2000
CNT Total Cost = Rs. 3,40,000
Electronic Polymer Muscle Cost = Rs.96,000
Sensors(X-Fab Pressure and Flex) = Rs. 5000
Encoder (Autonics EMP) = Rs. 6000
Structure Material and Fabrication = Rs. 10000
Glass Screen(embedded Processor) = Rs. 6000
Front Camera = Rs. 500
Frame = Rs. 200
Total Estimated = Rs. 3,80,000 (or) Rs 1,50,000
For Both Arms Enhancement along with ArtIOS Glass
