Cosmetic Terminal Devices

For discussion of arm designs.
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Skip Meetze
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Cosmetic Terminal Devices

Postby Skip Meetze » Mon Feb 01, 2016 9:59 pm

Attachments
GT hand 1.6 assembly.png
GT hand 1.6 assembly.png (187.33 KiB) Viewed 4269 times
Cosmetic Hand .6 assembly.png
Cosmetic Hand .6 assembly.png (99.6 KiB) Viewed 4269 times
heart hand love hand.jpg
heart hand love hand.jpg (74.03 KiB) Viewed 4301 times
Last edited by Skip Meetze on Mon Feb 08, 2016 1:17 am, edited 9 times in total.

john.diamond
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Re: Cosmetic Terminal Devices

Postby john.diamond » Wed Feb 03, 2016 9:21 pm

I've printed the cosmetic gripper hand and it took 14:41 on my RepRap. I'm not sure the thumb hinging is correct as it only closes as far as shown in the photos. The thumb has very little range of movement and can't touch the fingers. The hand looks very lifelike and I'm sure can be adjusted to work as intended. Note that the wrist bolt hasn't been attached using filament yet.
Cosmetic Gripper 1.jpg
Cosmetic Gripper 1.jpg (364.84 KiB) Viewed 4316 times
Cosmetic Gripper 3.jpg
Cosmetic Gripper 3.jpg (358.72 KiB) Viewed 4316 times
Cosmetic Gripper 2.jpg
Cosmetic Gripper 2.jpg (347.12 KiB) Viewed 4316 times

john.diamond
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Re: Cosmetic Terminal Devices

Postby john.diamond » Fri Feb 05, 2016 1:49 am

I've identified why the thumb won't close and it's not the pivot hole position as that's OK. There's a small protrusion from the side of the slot into which the thumb is placed and I've ringed it in red in the first photo. The other photos show the fully assembled hand with the castrating band and rivets added.
Gripper Hand Problem.jpg
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Gripper Hand 2.jpg
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Gripper Hand 1.jpg
Gripper Hand 1.jpg (144.52 KiB) Viewed 4307 times
Gripper Hand 3.jpg
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Gripper Hand 4.jpg
Gripper Hand 4.jpg (106.6 KiB) Viewed 4307 times

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Skip Meetze
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Re: Cosmetic Terminal Devices

Postby Skip Meetze » Fri Feb 05, 2016 1:03 pm

Thanks John! Looks like a successful proof-of-concept to me! Congratulations!!!!

Let me point out that this was the 2-Part Gripper Thumb 1.3 set. I am updating the sticky posting at the top of this forum with v 1.5.

My friend Dower Chin and his son Isaac have successfully printed the 2-Part Cosmetic Hand on 4 January 2014 in ABS on his Lulzbot Mini. Congratulations Dower!. Another proof-of-concept!
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Dower's print of Cosmetic Hand 1.3.jpg
Dower's print of Cosmetic Hand 1.3.jpg (109.78 KiB) Viewed 4302 times

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Skip Meetze
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Cosmetic Terminal Devices also work for Transhumeral arm systems

Postby Skip Meetze » Fri Feb 05, 2016 7:09 pm

In addition to the Modular Training Arm (a transradial elbow-powered arm), another application of Cosmetic Terminal Devices is for Transhumeral Modular Arm systems and the two systems can share much of the same technology. The Haiti Team is actively seeking this type of device.

Transhumeral assembly 1.0.png
Transhumeral assembly 1.0.png (156.39 KiB) Viewed 4292 times


The parts can all be printed or some can be printed flat and thermoformed (or thermoformed from flat sheets printed with a flatbed inkjet printer).

The socket will be fabricated by a prosthetist and attached to the Above Elbow Plug or the Upper Arm Cuff.

The wrist can pronate and supinate as the recipient twists it with the other hand. The wrist and forearm may benefit from adding a flexible cosmetic fairing that gracefully makes the transition from the oval/rectangular form of the wrist to the more circular cross-section of the forearm

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Skip Meetze
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Assembly experiments with the cosmetic hands:

Postby Skip Meetze » Mon Feb 08, 2016 9:12 pm

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Bad idea.jpg
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Skip Meetze
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Re: Cosmetic Terminal Devices

Postby Skip Meetze » Thu Feb 11, 2016 6:37 pm

Attachments
2-Part GT hand 1.9 RS set.png
2-Part GT hand 1.9 RS set.png (155.84 KiB) Viewed 4210 times
2-Part GT hand 1.9 LS set.png
2-Part GT hand 1.9 LS set.png (251.68 KiB) Viewed 4210 times
v1.9 underside.png
v1.9 underside.png (946.98 KiB) Viewed 4210 times
Last edited by Skip Meetze on Tue Feb 16, 2016 9:34 pm, edited 3 times in total.

PeterBinkley
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Re: Cosmetic Terminal Devices

Postby PeterBinkley » Thu Feb 11, 2016 9:59 pm

Skip,

Sorry about the color. I don't have any skin-tone ABS, so I used this neon yellow.

I printed with a large brim, which helped control warping, but didn't eliminate it.

I used ABS cement (abs+acetone) to glue the sides together. I should have worn gloves. I used a #6 sheet metal screw to squeeze the halves together. When the glue dries, we will see if it helps shrink the halves together. I'll definitely need to fill some holes when this cement dries.

ABS and nylon both shrink as they cool, so I think for this design, it will make sense to print the whole thing at once, and to include support in the model. Or we could suggest printing with support turned on. Gluing two halves together is a challenge, and I think it will negatively impact the quality of the product and/or ease of assembly.
Attachments
2-parthand01.jpg
2-parthand01.jpg (120.73 KiB) Viewed 4237 times
2-parthand02.jpg
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2-parthand03.jpg
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Skip Meetze
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Re: Cosmetic Terminal Devices

Postby Skip Meetze » Tue Feb 16, 2016 10:46 pm

TD demo video.png
TD demo video.png (1.43 MiB) Viewed 4208 times


Take a look at the video of the Terminal Device in action.

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Skip Meetze
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Re: Cosmetic Terminal Devices

Postby Skip Meetze » Sun Feb 21, 2016 11:47 pm

Attachments
Side Print Wrist Assembly.png
Side Print Wrist Assembly.png (239.13 KiB) Viewed 4192 times


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