Styresystem for kybernetisk håndleddsprotese - NTNU

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Tillegg A. Funksjonsspesifikasjon 78 WSF according to WSF-03. 5.6 Wrist Power Function, WPF The following requirements are derived from GEN-05. Req. no. Descripon Comments WPF-01 The WPF shall accept external power in the form of an unregulated two-wire DC supply. Implies on-board voltage regulaon. WPF-02 The NRWD shall tolerate and run This corresponds to Oo Bock, normally when powered with a Moon Control and other systems. voltage in the range (6 V, 12 V). The Upper limit possibly to be relaxed range of usable voltages should be as wide as (5 V, 18 V). (lowered). WPF-03 The NRWD shall tolerate supply E.g. shung down the controller voltage in the range (0 V, 12 V) before the voltage gets dangerously without exhibing unpredictable low, may otherwise damage Flash behaviour and without geng and EEPROM content etc. damaged. See comments to WPF-02. WPF-04 The NRWD should automacally Low baeries => careful motor limit its motor current to a level that does not reduce the supply voltage below the interval given in WPF-02. control to avoid power-down. 11
Tillegg A. Funksjonsspesifikasjon 79 5.7 Proximal Attachment Function, PAF The following requirements are derived from GEN-06 and more. Req. no. Descripon Comments PAF-01 The PAF shall comprise two parts, the proximal of which is adapted to be permanently aached to the forearm socket and the distal permanently aached to the wrist unit. The parts must “mate” to form a mechanically stable connecon while also being detachable. PAF-01-01 The proximal part of the PAF shall be hollow to allow access to the space within the socket proximally to the wrist. PAF-02 PAF disconnecon should be possible with hand or a simple tool, e.g. a screwdriver. PAF-03 The PAF shall include a four-wire electric coupling, preferably mechanically integrated with the PAF itself. PAF-03-01 The PAF electrical coupling shall include at least two power supply wires/contacts capable of transferring a constant current of 4A per wire. PAF-03-02 The PAF electrical coupling should be rotatable without twisng the wires. 5.8 Distal Attachment Function, DAF The following requirements are derived from GEN-07 and more. Req. no. Descripon Comments DAF-01 The DAF should comprise two parts, the proximal of which is permanently aached to the wrist and the distal permanently aached to the terminal device. The parts must “mate” to form a mechanically stable connecon while also being detachable. DAF-02 The DAF shall include a four-wire electric coupling, preferably mechanically integrated with the 12 A commercially available “quick disconnect” unit may be used, but the enre mechanism must be kept as short as possible. Baeries and electrodes etc. is mounted here, so an opening must be present to allow maintenance and replacement of these units. GEN-04 and GEN-05. Preferably a “quick disconnect” type, oponally loose wires and a manually detachable coupling/plug. This is the current for the wrist AND the terminal device. Brush rings etc. This requirement and DAF-02-02 are mutually exclusive; both are not needed! The distal part may be a funcon of the terminal device, e.g. a Bock hand. No “quick disconnect” required here! GEN-04 and GEN-05. Preferably a “quick disconnect” type, oponally loose wires and a manually
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Styresystem for kybernetisk håndle
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Sammendrag Et av de mer opplagte pr
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Nomenklatur • CAN - Controller Ar
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5 Moduldesign 23 5.1 Mikrokontrolle
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Kapittel 1 Innledning 1.1 Bakgrunn
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Kapittel 1. Innledning 3 Funksjonss
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Kapittel 2 Styring av børsteløs D
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Kapittel 2. Styring av børsteløs
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Kapittel 3 Metoder og utviklingsmet
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Kapittel 4 Spesifisering og toppniv
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Kapittel 4. Spesifisering og toppni
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Kapittel 5 Moduldesign Hensikten me
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Kapittel 5. Moduldesign 25 5.2 CAN-
Page 41 and 42: Kapittel 5. Moduldesign 27 Hall C H
Page 43 and 44: Kapittel 5. Moduldesign 29 5.5 Str
Page 45 and 46: Kapittel 5. Moduldesign 31 drivermo
Page 47 and 48: Kapittel 5. Moduldesign 33 spenning
Page 49 and 50: Kapittel 6 Implementasjon 6.1 Maski
Page 51 and 52: Kapittel 6. Implementasjon 37 6.1.2
Page 53 and 54: Kapittel 6. Implementasjon 39 Figur
Page 55 and 56: Kapittel 6. Implementasjon 41 6.2.2
Page 57 and 58: Kapittel 6. Implementasjon 43 uart.
Page 59 and 60: Kapittel 6. Implementasjon 45 Overs
Page 61 and 62: Kapittel 7 Testplaner og testing F
Page 63 and 64: Kapittel 7. Testplaner og testing 4
Page 71 and 72: Kapittel 8 Diskusjon 8.1 Resultater
Page 73 and 74: Kapittel 8. Diskusjon 59 switchereg
Page 75 and 76: Kapittel 8. Diskusjon 61 med en opp
Page 77 and 78: Kapittel 9 Konklusjon Det har i den
Page 79 and 80: Bibliografi [1] Inge Brattbakken. E
Page 81 and 82: Tillegg A Funksjonsspesifikasjon 67
Page 83 and 84: Tillegg A. Funksjonsspesifikasjon 6
Page 91: Tillegg A. Funksjonsspesifikasjon 7
Page 97 and 98: Tillegg B Kretsskjema og magnethold
Page 99 and 100: Tillegg B. Kretsskjema og magnethol
Page 109 and 110: Tillegg C CD C.1 Rapport • pdf-ve
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Styresystem for kybernetisk håndleddsprotese - NTNU

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