Step 1

Attach Nano Camera Stand to Nano Enclosure Top with two M3 10mm screws and two M3 nuts.

Step 2

Attach the camera to the Nano Camera Stand with two M3 6mm screws.

Step 3

Slide the Jetson Nano board into the Nano Enclosure Top, from below.

Step 4

Attach the Nano Front Stabilizer to the Nano Enclosure Bottom with two M3 10mm screws and two nuts.

Step 5

Attach the Nano Arm Mount to the Nano Enclosure Bottom with two M3 10mm screws and two nuts.

Step 6

Attach the Nano Enclosure Bottom to the Nano Enclosure Top with four M3 10mm screws. Note that there are small raised cylindrical "posts" on the inside of the enclosure bottom (see image in Step 5) that the Jetson Nano slides into. It may be helpful to slide the Nano out from enclosure top, rest it on the cylindrical "posts", and then slide the enclosure top down onto it.

Step 7

Congratulations! You have successfully built the eye-in-hand system.

Step 8

Remove the gray plastic cover from the robot arm's 6th joint.

Step 9

Home the robot. On the 6th joint, one screw should point straight up. Unscrew the screws to the left and right of that screw.

Step 10

Screw the arm mount into the two now-empty screw holes on the 6th joint, using 12mm M3 screws. Congratulations, you have successfully attached the eye-in-hand system to the robot arm!

Step 1

Identify the +x (red), +y (green), and +z (blue) directions of the F/T sensor. Attach the forktines to the F/T sensor with three M3 4mm screws, such that if you're looking down the fork handle to the fork tines, +x goes to your left, +y goes up, and +z goes away from you (from handle top to fork tip).

Step 2

Attach the fork handle to the F/T sensor using three M3 8mm screws.

Step 3

Insert three M3 nuts into the hexagonal slots on the inside of the wireless F/T mount.

Step 4

Attach the mag cover and switch cover to the wireless F/T mount using three M3 6mm screws. Note that these elements are optional, and only necessary for wireless magnetic charging of the F/T transmitter.

Step 5

Attach the wireless F/T transmitter to the wireless F/T mount with four M3 6mm screws.

Step 6

Run the F/T sensor wire through the hole in the fork handle. Attach the fork handle to the wireless F/T mount using two M3 30mm screws.

Step 7

Arrange the remaining excess wire in the hollow of the fork handle. To ensure the right amount of excess wire is left, consider plugging it into the F/T transmitter.

Step 8

Attach the fork handle cover to the fork handle using two M3 8mm screws.

Step 9

Congratualtions! You have successfully built the fork assembly.

Step 10

Insert an M3 nut into the slot at the bottom of the arm mount (if the nut cannot fit due to 3D printer support material, it is fine to continue without the nut). Attach the arm mount mag cover to that spot using one M3 16mm screw. Note that this step is optional, and only necessary for wireless magnetic charging of the F/T transmitter.

Step 11

Home the robot. On the 6th joint, one screw should point straight down. Unscrew that screw and the the screws to its left and right.

Step 12

Screw the arm mount into the three now-empty screw holes on the 6th joint, using one M3 12mm screw (center) and two M3 8mm screws (sides).

Step 13

Open the gripper. Slide the fork assembly into the gripper. Ensure the trapezoidal extrusion on the wireless F/T mount slides into the arm mount's corresponding trapezoidal slot (this is intentionally a tight fit). Further ensure that the extrusions at the top of the fork handle slide into the corresponding slots in the gripper. Close the gripper.

Step 14

Congratualtions! You have successfully attached the fork assembly to the robot arm.

Power wheelchairs tend to have a sliding track below the seat, on both sides, which can be used to attach accessories (ours is 9mm x 16mm internal dimensions on each half of the track; see pic). We leverage that sliding track for our wheelchair mount, which consists of the following parts (labeled in the images):

1. A 30cm piece of 40-40
2. A 10cm piece of 40-40
3. Two joining plates, a corner bracket, and associated M8 screws and nuts
4. Three 40-40 end caps
5. Three clamping lever ratcheted screws
6. A thick custom-designed aluminum spacer block (5cm x 8cm x 1.5cm), with five evenly spaced unthreaded holes to accomodate M6 screws.
7. A thin custom-designed aluminum spacer block (2.5cm x 8cm x 0.2cm), with unthreaded holes corresponding to the aforementioned spacer block.
8. A custom-designed linear connector (8cm x 1.6cm x 0.4cm) with threaded holes corresponding to the aforementioned holes. M6 30mm screws, and lock washers to attach it to the spacer block. This one has threaded holes.
9. Three M6 20mm screws, washers, and T-slot nuts to attach the thick aluminum spacer block to the 40-40
10. Four M6 30mm screws and lock washers to attach the thick aluminum spacer block to the thin one and the linear connector.

Once the wheelchair mount is assembled (see images), you can slide the linear connector into the wheelchair's sliding track, and attach the robot arm to the mount using the clamping lever ratcheted screws.

For meals when users aren't seated in their wheelchair, it can be helpful to have a mount that can be wheeled to wherever the user is. Hospital tables are commonly used as part of care routines because they are wheeled, height-adjustable, and lightweight. Thus, we developed a robot mount that can be clamped onto a hospital table, to accomodate out-of-wheelchair meals (e.g., in-bed meals). This mount consists of the following parts (labeled in the images):

1. A 55cm piece of 40-40 (although we joined two pieces together for this length, a single piece is preferrable)
2. A 10.6cm piece of 40-40 (depending on the distance from the edge to the post of the hospital table)
3. Three clamps to connect the 40-40 and hospital table
4. Three 40-40 end caps
5. Three clamping lever ratcheted screws
6. Two joining plates, five corner bracket, and associated M8 screws and nuts

Sometimes, it can help to have additional flexibility in where one sets up the robot. For such scenarios, we use a tripod mount. This mount consists of a Rockwell RK9033 tripod, with 40-40 welded onto the adjustable center rod. A tripod mount is a great fallback for studies where time or spatial constraints make it challenging to use the other two mounts.

The electronics mount consists of the following parts (labeled in the images):

1. Laser-cut acrylic:
   1. Front Plate
   2. Middle Plate
   3. Back (Router) Plate
   4. Bottom Plate
   5. Router Bottom Plate
   6. Side (Outlet) Plate
   7. L-Braces (3)
   8. Power Station Support (Base)
   9. Power Station Side (2)
2. Acrylic glue
3. 3D-printed supports (PLA):
   1. Router Side Plate
   2. 35mm Screw Support (5)
   3. 40mm Screw Support (5)
4. Clamps (2) and corresponding M8 screws and nuts
5. Assorted M4 screws, nuts, and thread spacers. The thread spacers are inserted into the "screw supports" mentioned above.
6. One power strip
7. Buckle straps and snap fasteners, velcro
8. Grip tape

When attached to the hospital table mount, the robot arm and the electronics mount place disproportionate weight on one side of the table. To counteract this, we developed a counterweight, that consists of the below parts. Use acrylic glue to attach the bottom and side plates, screwn the hospital table aligners onto the bottom plate, screw the lid bracket into the inside of the side plates, place the weights inside, and screw the top plate on. Place the assembled counterweight over the hospital table legs, slide velcro through the slots in the hospital table aligners, and velcro it on.

1. Laser-cut acrylic:
   1. Top Plate (1)
   2. Bottom Plate (1)
   3. Long Side Plate (2)
   4. Short Side Plate (2)
2. Acrylic glue
3. 3D-printed supports (PLA):
   1. Weight Aligner 1 (2)
   2. Weight Aligner 2
   3. Weight Aligner 3
   4. Weight Aligner 4
   5. Lid Bracket
4. 10lb ankle weights (2)
5. M4 screws and nuts.
6. Velcro

5.1 Power Wheelchair Power

Power wheelchairs typically have a specific (and sometimes proprietary) type of outlet that can be used to power accessories. Like with any other outlet type, there tends to be an ecosystem of extension cables, splitters, and more for the wheelchair's outlet type. Such accessories can taken from old wheelchairs, purchased from the manufacturer, or purchased from used parts stores like Liberty Mobility. Specifically, to power the system from our particular power wheelchair (24V), we use:

1. A multi-link connector to provide more outlets
2. A cable to deliver power to the robot, procured from Kinova and its distributors.
3. Powering the laptop and router:
   1. A cable with the right outlet type for our wheelchair
   2. A power switch
   3. A travel laptop charger
   4. A power supply for the router

Note that developing the adapter to power the laptop and router from the wheelchair involved cutting some cables and soldering wires to the appropriate connectors. As such, developing the adapter requires some familiariaty with electrical engineering and appropriate safety precautions.

5.2 Portable Power Station or Wall Power

The electronics can alternatively be powered by wall power, or alternatively by a portable power station that provides sufficient wattage. Both these options use a 3-pronged plug (U.S.) standard for power, which is screwed into the electronics mount. The pictures show the power station powering the system on the wheelchair (useful if one hasn't created the adapter for that specific wheelchair's outlet) and on the hospital table. If need be, the same plug that inserts into the power station can be plugged into wall power, although that does reduce system portability.