BIOGRIP

PRODUCT DESIGN
SPECIFICATIONS

DP-4 Team 3
DANNY AL-SAMMAK, ALEX COLVILLE-REEVES, NICHOLAS CARBONARA, SARAH RAIDAH | April 9, 2020
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INTEGRITY STATEMENTS
The student is responsible for performing the required work in an honest manner, without
plagiarism and cheating. Submitting this work with my name and student number is a statement
and understanding that this work is my own and adheres to the Academic

Integrity Policy of McMaster University.

Submitted by Alexandra Colville-Reeves, 400233588

The student is responsible for performing the required work in an honest manner, without
plagiarism and cheating. Submitting this work with my name and student number is a statement
and understanding that this work is my own and adheres to the Academic

Integrity Policy of McMaster University.

Submitted by Danny Al-Sammak, 400264097

The student is responsible for performing the required work in an honest manner, without
plagiarism and cheating. Submitting this work with my name and student number is a statement
and understanding that this work is my own and adheres to the Academic

Integrity Policy of McMaster University.

Submitted by Nicholas Carbonara, 400250796

The student is responsible for performing the required work in an honest manner, without
plagiarism and cheating. Submitting this work with my name and student number is a statement
and understanding that this work is my own and adheres to the Academic

Integrity Policy of McMaster University.

Submitted by Saraf Raidah, 400266577

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TABLE OF CONTENTS
Integrity Statements ....................................................................................................................... 1
Background and Underlying Condition ........................................................................................... 3
Flex Sensors................................................................................................................................. 4
Motors......................................................................................................................................... 4
Glove ........................................................................................................................................... 5
Need Statement .............................................................................................................................. 5
Product Identification ..................................................................................................................... 6
Usage............................................................................................................................................... 7
Standards and Safety ...................................................................................................................... 8
Life Cycle ......................................................................................................................................... 9
Production Costs ........................................................................................................................... 10
References..................................................................................................................................... 11
Appendices.................................................................................................................................... 12
Appendix A ................................................................................................................................ 12
Customer Requirements: ...................................................................................................... 12
Engineering Specifications: ................................................................................................... 13
Quality Functional Deployment Chart .................................................................................. 15
Appendix B ................................................................................................................................ 16
Weighting Factor Table......................................................................................................... 16
Go-No-Go Screening ............................................................................................................. 16
Decision Matrix ..................................................................................................................... 16
Sketches of Proposed Design Solutions: ............................................................................... 17
Appendix C ................................................................................................................................ 19
Documentation of Low-Fidelity Prototypes.......................................................................... 19
Appendix D ................................................................................................................................ 20
Preliminary Gantt Chart ........................................................................................................ 20
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BACKGROUND AND UNDERLYING CONDITION

Our client suffers from an autoimmune disorder which occurs when the immune system is
unable to aptly distinguish between potential threats and normal cells, resulting in harm to
healthy cells [1]. This leads to an increased probability of contracting various illnesses, and often
an increased severity when contracted [1]. This is the current diagnosis Ms. Liu has, although it
was noted some of our client’s symptoms do not align with the diagnosis. Additionally, she
experiences the symptoms in an inconsistent manner, the severity of her pain and symptoms
experienced varies throughout the day as well as day-to-day. The lack of predictability and
inconsistency of the symptoms provides a challenge in terms of treatment.

In an interview with Ms. Liu we learned that some of her symptoms include pain and swelling
in the airway, skin irritation and swelling, pain, and limited mobility in joints-specifically the wrist
and fingers. We were also able to learn that having her hand in a relaxed position reduced the
amount of pain she experienced. These were the main pieces of information which we used to
shape our product.

Although there are studies and research regarding autoimmune disorders, we were only able
to use this information to a certain extent as Ms. Liu does not have a firm diagnosis. The lack of
certainty prevented us from doing extensive research into specific symptoms and treatment
options for autoimmune disorders. As a result, we were mainly limited to what was described by
the client, using general information found through research to support our product
development.

The prosthetic fingers of our design are printed using NinjaFlex 3D printer filament which is
made from Thermoplastic Polyurethane (TPU) [2]. The flexibility of NinjaFlex is a crucial
characteristic as it allows the prosthetic fingers to flex and extend in response to stimulus from
the strings. This material is special as despite its flexibility, it is still a strong material capable of
maintaining its shape upon application of a force [2]. While the prosthetic fingers must bend to
grab an object, they must also be strong enough to remain holding the object without defects to
the structural integrity of the fingers. A similar prosthetic device produced by Open Bionics is
shown to hold up to a 5 kg payload using the NinjaFlex material [3]. As the design of our prosthetic
fingers is similar to that of Open Bionics, we felt it would be worthwhile to experiment with
NinjaFlex to achieve similar results [3]. The BioGrip is not meant to withstand weights as heavy
as 5 kg, however such data proved the NinjaFlex to be an ideal material for use.
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FLEX SENSORS
A flex sensor is a type of sensor that measures the amount of deflection. They are categorized
by size (2.2-inch/4.5-inch) and resistance (low, medium, high) [4]. They have a resistance range
between 1.5K ohms to 40K ohms and can withstand temperatures from -35ºC to 80ºC [4]. Flex
sensors typically contain carbon resistive components with a flexible substance, allowing them
to be bent unidirectionally or bi-directionally [5]. There is a variety of appropriate material such
as copper foil or carbon-loaded polyethylene [5]. The degree of resistivity of the material affects
the operating scale of the sensor. The sensor contains two output wires. They are known to be
variable resistors as the deflection of the sensor or recognition of a force results in the resistance
between the wires to decrease linearly [5]. The sensor is utilized when verifying if the surface of
a device is levelled, where flex is measured or the change in the angle of an object is required.
Some common applications of flex sensors include toys, fitness products, virtual motion, and
medical devices. For instance, the Nintendo Power Glove is an electronic toy that holds flex
sensors in the fingers of the toy to measure the deflection [5].

The BioGrip uses four 2.2-inch flex sensors, one for each prosthetic finger. They are placed on
the front side of the glove. When the user bends any finger to some degree, the flex sensor will
receive that change in resistance and send it to the Raspberry Pi to alter the positioning of the
prosthetic fingers.

MOTORS
A servo motor is a rotary actuator with the purpose of rotating and/or pushing connected
parts. It allows for precise control of position, velocity, and acceleration [6]. It has an encoder
that converts mechanical movement into digital pulses. It is composed of 4 components; an
electric motor, a control system, a drive system, and a potentiometer [6]. The electric motor
generates the rotating motion of the shaft. The shaft is normally made of steel but if high strength
is necessary, materials like nickel or nickel-chromium are commonly used [6]. The control system
controls the motion of the motor via electric pulses [6]. The drive system is made of gears which
alter the speed and torque [6]. The gears are normally made of plastic but can be made of metal
if durability is required [6]. The potentiometer, frequently made of graphite, is connected to the
central shaft and regularly monitors the angle of the motor’s shaft [6]. There are two types of
servo motors; AC servo motors and DC servo motors [7]. The main difference between these 2
types of motors is the power source. AC motors require an electric outlet while DC motors are
dependent on a battery source [7]. AC motors depend on frequency and voltage while DC motors
solely depend on voltage [7].
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Servo motors are considered to be a fundamental aspect of systems that require controlled
mechanical positioning. Some common applications include conveyor belts, camera lens, printers
and automatic door openers [8]. The BioGrip uses DC servo motors to control the rotation of the
prosthetic fingers. It connects to a shaft and turns according to the input provided by the user.
They allow for precise positioning of the prosthetics which move at the desired rate in the
appointed direction.

GLOVE
The glove will consist of a polyester viscose fabric blend as poly-viscose fabric combines all the
properties that our product needed to ensure comfort for the user when worn for extended
periods of time. Poly-viscose is commonly used to make a variety of clothing items including
gloves [9]. This fabric is known for being soft to the touch, breathable and odour resistant [9].
These are all important factors that will prevent buildup of heat or moisture in the glove which
could lead to skin irritation and discomfort. Finally, the fabric is extremely tough and holds up
well after extensive uses [9]. This makes it a strong candidate for our product as it will be able to
support the weight of the computing components and withstand recursive uses without
breaking.

NEED STATEMENT
Design an assistive device that aids Ms. Liu in completing fine motor skill-related activities with
minimal joint movement due to her inflammation and stiffness of joints.
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PRODUCT IDENTIFICATION
• The purpose of this product is to aid Ms. Lui in performing fine motor skill movements,
focusing mainly on holding a pencil
• The product consists of a glove to which four prosthetic fingers are fixed on the palm
• The prosthetic fingers are 3D printed using NinjaFlex filament (Thermoplastic
Polyurethane) which allows them to bend as a natural finger would whilst remaining
sturdy to accommodate applied forces
• The glove itself is to be made of a polyester viscose fabric blend which is very comfortable,
breathable, and odour resistant, allowing for the device to be worn for extended usage
[8]
• An ON/OFF button and charging port are located on the left side of the glove to allow for
easy operation and charging
• The product contains a thumb prosthetic, and three other prosthetic fingers, center
fingers, mimicking the index, middle, and ring fingers
• The center fingers are fixed to a plank that spans the palm horizontally and wraps around
the user’s hand to be fixated. The same setup is done for the prosthetic thumb which is
fixated around the user’s thumb and has a separate shaft.
• Along the plank is a rotating shaft to which a string running through each prosthetic is
attached. As a result, when the shaft rotates, the string is wound causing the joints of the
finger to bend
• Two servo motors are located on both sides of the palm, each one fixated to a rotating
shaft which drives the motion of the prosthetics. It is crucial that these motors provide an
idling current as that maintains a locked position of the prosthetics when an object is
being held.
• The center fingers’ shaft is controlled by one motor and the thumb prosthetic is controlled
by the other motor
• The fingers of the glove are all lined with flex sensors embedded into the fabric of the
glove that can sense slight motion in each finger
• The required electrical components are located on the back of the hand in an enclosed
3D printed component.
• A Raspberry Pi Zero is used as the controller for the prosthetics. With the help of a motor
driver and an analog-to-digital converter, the Pi reads data from the flex sensors and
actuates the motors/fingers accordingly.
• The Pi is powered by a low-profile Pi Sugar battery pack that lasts about 5 hours on a full
charge
• The device needs to be charged on average once a day
• The overall size of the device is similar to that of an average human hand
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USAGE
• BioGrip is worn like a glove
• To use, insert hand in glove and tighten the velcro strap located at the bottom of the glove
• The device can be turned ON/OFF through the push of a button
• Each finger motion results in a predetermined hand position on the device
• Initially, the fingers are in a relaxed position
• Although customizable for each patient, the basic control commands are:
o Thumb flex: Thumb prosthetic finger controlled close
o Index finger flex: Three center prosthetics controlled close
o Middle finger flex: Complete opening of thumb prosthetic
o RIng finger flex: Complete opening of three center prosthetics
• The BioGrip can be worn every day for extended periods of time, only limited by the
predicted battery life of about 5 hours
• BioGrip is worn on one hand but requires two hands to secure the device on the hand.
• This device does not put the user's hand in any unusual positioning as the device allows
her hand to be in a relaxed position
• When not in use, the BioGrip should be laid on a dry surface
• BioGrip should not be worn in environments that exceed extreme temperatures
• The device is water-resistant, however, use in wet conditions should be avoided
• NinjaFlex (Thermoplastic Polyurethane) can withstand 660% elongation, which decreases
rate of fracture and wear [9]
• Extended use on rough surfaces can cause wear of the prosthetic fingers
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STANDARDS AND SAFETY

• If skin irritation occurs during use of BioGrip, remove device and contact your doctor if
symptoms persist and before resuming wear
• Discontinue use if device feels hot
• BioGrip is water resistant but not waterproof, submerging the device in liquids, including
water, should be avoided to eliminate the risk of damage to electronic components
• If BioGrip becomes saturated in water, the user should turn the device off, remove
immediately and lay out to dry providing adequate time for all moisture to dissipate
• Never dry BioGrip with a heat source such as a hair dryer or oven
• BioGrip contains a lithium-ion battery, which is considered a safe energy storage device
but does carry some safety risks including but not limited to:
o Overheating
o Fires, more specifically capable of self-ignition
o Explosions
• In order to mitigate these risks, the following precautions should be executed:
o Before charging, allow device to come to room temperature
o Avoid prolonged heat exposure
o Do not make modifications to the battery or any electronic components
o Do not charge device in extreme temperatures
o Do not overcharge the device, follow the recommended charge time
o Do not charge device while it is wet
o Use a charger that is current and voltage compatible with the BioGrip
• Do not wear device while charging
• Possible low risk of first-degree burns due to battery or motor overheating; to reduce risk,
use device only for its intended use
• Product should not be used to handle surfaces that exceed a temperature of 60 degrees
Celsius
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LIFE CYCLE
• BioGrip is not dishwasher, washing or drying machine safe
• To clean, wipe down device with a damp lukewarm cloth and use a mild detergent, lay
flay to dry
• All hardware parts are replaceable and can be 3D printed
o All hardware parts are printed with Ninjaflex filament except the shafts that cause
the fingers to contract, which is printed in PLA
• Individual electronics can be replaced, the whole electric system does not need to be
replaced, i.e. if a stepper motor is burnt out only that stepper motor has to be replaced
• If BioGrip is damaged to the extent that replacing individual parts will not rectify the
damage, the device will be replaced, please contact DP-4 Design Team 3 and we will
provide a new BioGrip
• All components of BioGrip are recyclable, however, PLA is not curbside recyclable
o PLA components, (i.e. shaft) can be sent to filabot.com and they will recycle the
material
o Ninjaflex filament components can be recycled in the blue bin
o Electronic components can be recycled at BFI Canada Inc. located at 27 Olympic
Drive, Hamilton, Ontario
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PRODUCTION COSTS
Item Quantity Unit Price Sub-Total

Ninjaflex Filament ~70g $59.99 per 0.5 kg $8.40

spool

PLA Filament ~0.5g $25 per 1 kg spool $0.02

Raspberry Pi Zero 1 $5.00 $5.00

Pi Sugar 1 $35.99 $35.99

FlexSensor 4 $8.95 $35.80

Servo Motor 2 $6.23 $12.46

AD Converter 1 $9.95 $9.95

Motor Driver 1 $10.95 $10.95

String 1 $1.00 $1.00

Polyester Viscose Material 1 $3.00 $3.00

Pack of Wires 1 $2.97 $2.97

1000 Ω Resistor 4 $0.05 $0.20

Total $125.74
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REFERENCES
[1] “What Are Common Symptoms of Autoimmune Disease?”
https://www.hopkinsmedicine.org/health/wellness-and-prevention/what-are-common-
symptoms-of-autoimmune-disease (accessed Apr. 08, 2020).

[2] “NinjaTek | NinjaFlex.” https://ninjatek.com/ninjaflex/ (accessed Apr. 08, 2020).

[3] “Ada_v1_1_Datasheet.pdf.” Accessed: Apr. 08, 2020. [Online]. Available:

https://static1.squarespace.com/static/56376cfde4b078ea32822fff/t/5739983122482e
97a8563a0d/1463392308072/Ada_v1_1_Datasheet.pdf.

[4] “Method to interface and use Flexibend sensor | Tutorials of Cytron Technologies.”
https://tutorial.cytron.io/2012/08/10/method-to-interface-and-use-flexibend-sensor/
(accessed Apr. 08, 2020).

[5] “Flex Sensor: Pin Configuration, Working, Types & Its Applications.”
https://www.elprocus.com/flex-sensor-working-and-its-applications/ (accessed Apr. 08,
2020).

[6] Tharakeswari, “What is a servo motor and when is it used?”

https://clr.es/blog/en/what-is-servo-motor-and-when-is-it-used/ (accessed Apr. 08,
2020).

[7] “What is a Servo Motor and Types of AC & DC Servo Motors.”

https://www.elprocus.com/different-types-of-servo-motors-dc-servo-motor-and-ac-
servo-motor/ (accessed Apr. 08, 2020).

[8] “Servo Motor Applications - List of Common Industrial Applications for Servos.”
http://www.tigertek.com/servo-motor-resources/common-servo-motor-
applications.html (accessed Apr. 08, 2020).

[9] “Spotlight on Poly-viscose fabric - its uses, nature, benefits and drawbacks,” CLAN,
Nov. 16, 2018. https://clan.com/blog/what-is-poly-viscose-fabric (accessed Apr. 07,
2020).

[10] “NinjaTek | NinjaFlex.” https://ninjatek.com/ninjaflex/ (accessed Apr. 07, 2020).

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APPENDICES
APPENDIX A
CUSTOMER REQUIREMENTS:
Objectives (should, solution-independent)

● Should be easy to operate

● Should be versatile

● Should be portable

● Should withstand recursive usage

● Should be time-efficient

Constraints (limit or restriction, limits the size of design space ie. ‘must be...’)

● Must be compact

● Must be cost-efficient

● Must be safe to use

● Must be durable in a variety of conditions

● Must require minimal user interaction

● Must not inflict pain on Ms. Liu

Function

● Reduces joint movement

● Aids Ms. Liu in the independent completion of a fine motor skill task

● Reduces load on joints

● Aids in Ms. Lui’s comfort

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ENGINEERING SPECIFICATIONS:
Customer Objective Constraint Function Specifications
Requirement

Should be easy to ✔ Number of steps

operate

Should be ✔ Number of
versatile different
applications

Should be ✔ Mass, volume

portable

Should withstand ✔ Number of uses

recursive usage

(Lifespan)

Should be time- ✔ Time?

efficient

Must be compact ✔ Effective use of

volume

Must be safe to ✔ TSSA approved

use

Must be cost- ✔ Cost

efficient

Must be durable ✔ Ability to resist

in a variety of failure
conditions

Must require ✔ Number of user

minimal user interactions to
interaction perform the
action
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Must not inflict ✔ Perceived pain of

pain on Ms. Liu device(Scale of 1
to 10)

Reduces joint ✔ Degrees of joint

movement movement

Aids Ms. Liu in the ✔ Whether or not it

independent helps Ms. Liu
completion of a complete a task
fine motor skill without
task assistance

Aids in Ms. Lui’s ✔ Ms. Liu’s comfort

comfort (scale 1 to 10)

Reduces load on ✔ Force Ms. Liu is

joints required to exert
on the device
during usage
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QUALITY FUNCTIONAL DEPLOYMENT CHART

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APPENDIX B
WEIGHTING FACTOR TABLE

GO-NO-GO SCREENING

DECISION MATRIX
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SKETCHES OF PROPOSED DESIGN SOLUTIONS:

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APPENDIX C
DOCUMENTATION OF LOW-FIDELITY PROTOTYPES
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APPENDIX D
PRELIMINARY GANTT CHART