# Design Methodology for Soft Wearable Devices--The MOSAR Case
## 3 Methodology Implementation: The MOSAR Case
### Phase 2: EPM Modeling
\begin{table}
\begin{tabular}{l l l l l l l} \hline \hline \multirow{2}{*}{**Joint**} & **Body** & \multirow{2}{*}{**Motion**} & \multirow{2}{*}{**ROM**} & **Torque** & **Pressure** & **Force** \\  & & & & **Nm** & **kPa** & **N** \\ \hline \multirow{2}{*}{**Elbow**} & \multirow{2}{*}{1.60} & Flexion & \multirow{2}{*}{150\({}^{\circ}\)} & \multirow{2}{*}{1.2} & 350 & 20 \\  & & Extension & & & 80 & 16.5 \\ \multirow{2}{*}{**Forearm**} & \multirow{2}{*}{1.60} & Supination & \multirow{2}{*}{78\({}^{\circ}\)} & \multirow{2}{*}{1.9} & 50 & - \\  & & Pronation & & & & \\ \hline \multirow{2}{*}{**Wrist**} & \multirow{2}{*}{0.70} & Flexion & \multirow{2}{*}{91\({}^{\circ}\)} & \multirow{2}{*}{0.2} & \multirow{2}{*}{-} & - \\  & & Extension & & & & \\ \multirow{2}{*}{} & Radial dev. & \multirow{2}{*}{32\({}^{\circ}\)} & \multirow{2}{*}{0.5} & \multirow{2}{*}{-} & - \\  & & Radial dev. & & & & \\ \multirow{2}{*}{} & Ulnar dev. & \multirow{2}{*}{32\({}^{\circ}\)} & \multirow{2}{*}{0.5} & \multirow{2}{*}{-} & - \\  & & Ulnar dev. & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Collected values for SWD. \begin{table}
\begin{tabular}{l l l l l l} \hline \hline \multirow{2}{*}{**Joint**} & **Motion** & **Muscle** & \multirow{2}{*}{**Active**} & **Passive** & **Functional** \\  & & & **ROM** & **ROM** & **ROM** \\ \hline \multirow{2}{*}{**Elbow**} & Flexion & Biceps & \multirow{2}{*}{130\({}^{\circ}\)} & 140\({}^{\circ}\) & 150\({}^{\circ}\) \\  & Extension & Triceps & 0\({}^{\circ}\) & \(-\)5\({}^{\circ}\) & 0\({}^{\circ}\) \\ \hline \multirow{2}{*}{**Forearm**} & Pronation & Pronator & \multirow{2}{*}{80\({}^{\circ}\)} & 85\({}^{\circ}\) & 80\({}^{\circ}\) \\  & Supination & Supinator & 0\({}^{\circ}\) & 90\({}^{\circ}\) & 80\({}^{\circ}\) \\ \hline \multirow{2}{*}{**Wrist**} & Flexion & \multirow{2}{*}{Wrist Flexors (6)} & \multirow{2}{*}{90\({}^{\circ}\)} & 90\({}^{\circ}\) & 70\({}^{\circ}\) \\  & Extension & & & & \\ \multirow{2}{*}{Radial deviation} & Flexon-Extensor Carpi Radialis & 0\({}^{\circ}\) & 35\({}^{\circ}\) & 30\({}^{\circ}\) \\ \multirow{2}{*}{} & Ulnar deviation & Flexon-Extensor Carpi Ulnaris & 0\({}^{\circ}\) & 15\({}^{\circ}\) & 20\({}^{\circ}\) \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Patient active-passive and functional ROM measurements. Hand digitalization was done with an ATOS III\({}^{\text{TM}}\) scanner. Due to workspace limitations of this scanner, the forearm was digitalized with an AMETEK\({}^{\text{TM}}\) scanner. For this process, the portability, lightness and not-required calibration of the AMETEK\({}^{\text{TM}}\) scanner allow for an easier handling compared to the ATOS III\({}^{\text{TM}}\). Furthermore, on the AMETEK\({}^{\text{TM}}\) digitalization the dummy forearm was fixed on a platform so the scanner could be triggered at any desired position, while it is inside its work area. Whereas on the ATOS III\({}^{\text{TM}}\), the dummy hand must be laid down on a swivel base because the scanner is fixed in a tripod for \(xyz\) motion which limits the workspace. In addition, the ATOS III\({}^{\text{TM}}\) is more sensitive to light, its sensors only detect white mate colors. Hence, the dummy hand must be coated with TiO\({}_{2}\) prior starting the digitalization to reduce noise from the light brightness. Unlike, the AMETEK\({}^{\text{TM}}\) can scan any color, so no coating is needed. Once the hand and forearm mesh virtual models were achieved, the respective files were exported to Geomagic Design X\({}^{\text{TM}}\) software to delete defects, noise and useless geometries. Continuing with the digital modeling, computer design was done to define the MOSAR virtual concept. The obtained mesh models were manipulated as solid parts in Creo\({}^{\text{TM}}\) software to build an assembly. Figure 8: Three dimensional digitalization and virtual modeling (**a**,**b**) Scanning with ATOS III\({}^{\text{TM}}\) and AMETEK\({}^{\text{TM}}\). (**c**,**d**) Hand-forearm computational points cloud were obtained from both sides. (**e**,**f**) Hand-forearm mesh models.