1. Motion Tracking System Research and Testing Rochester Institute of Technology DAVID J. MONAHAN (ME) JIM K. STERN (ME) JAHANAVI S. GAUTHAMAN (EE) BRIAN D. GLOD (CE) ASSIS E. NGOLO (CE) CORY B. LAUDENSLAGER (EE) BACKGROUND: National Science Foundation (NSF) has extensively helped RIT’s Assistive Devices family develop a strong relationship with the Nazareth College Physical Therapy Clinic. Physical therapists at Nazareth have long expressed a desire for portable motion tracking devices enabling monitoring of patients’ motion in their natural environments. Previously, two motion tracking projects, one tasked to track limb motion, and the second focusing on lower back (lumbar) motion were slated. Due to challenges identified from these prior motion tracking projects, the two were combined to create this P10010, project. Instead of creating a fully functional motion tracking system, P10010 will focus on developing a foundation of knowledge for future motion tracking projects. To realize the need for patient-sensor interfaces options, a sister team, P10011, was created with whom P10010 will work closely. MISSION STATEMENT: To research sensors and implementation methods for portable motion tracking systems capable of measuring patients' range of motion in their natural environments. The various aspects of a motion tracking system: sensors, a portable micro-controller, interface circuitry, software, and human interfaces are explored. The primary ranges of motion of interest: Motion of a human limb, where a limb is defined as a 3-bar linkage, for example: upper leg, lower leg, and foot. Motion of a human's lower back, where it is defined as the lumbar region, with 3 points of contact: sacrum, L1-L2, L3-L5. DESIGN SPECIFICATIONS: SpecificationImportanceUnitIdeal Value Accuracy of AnglesHighDegrees±1 Range of AnglesHighDegrees360 Size of SensorMediummm330x30x15 Degrees of FreedomMediumAxis3 Size of Data StorageHighGB5 Sampling FrequencyHighHz100 Input VoltageHighV9 Range of Data TransmissionHighFt5 Weight of Micro- ControllerHighkg<.5 Set-up TimeLowMinutes10 Battery Life of the systemHighHours24 Weight of SensorsHighg10 Data transfer : Device to PCLowMinutes3 Angles are displayed for userHighN/AC3D Format Wireless SolutionMediumN/AWireless Comfort of Sensors on PersonHighSubjectiveYes Attachment and Patient SafetyHighSubjectivePatient is Safe BudgetHighDollars500 TEST PLAN OVERVIEW: Component Measurement of Interest Test FixtureDegrees of Freedom & Range Test Fixture Accuracy of Individual Measurements Test FixtureAccuracy over Time Test FixtureSafety/Nondestructive Testing SensorsOutput Signal SensorsPower SensorsOutput Signal Quality SensorPower Sensors Accuracy of Individual Measurements SensorsAccuracy over Time SensorsDegrees of Freedom & Range Sensors Accuracy/DOF with Enclosures MCU Read and Store MCUPrecision MCUFunctionality MCU-PCData Format MCUData MCU-SensorAmplify Signal MCU-SensorFilter MCU-SensorPower Sensors & MCU'sDimensions, Weight P10010 ACKNOWLEDGEMENTS: Nazareth Physical Therapy Institute (Primary Customer) Dr. Elizabeth DeBartolo (Team Guide), RIT Dept. of Mechanical Engineering Dr. Daniel Phillips (Sensors Guide), RIT Dept. of Electrical Engineering Dr. Roy Czernikowski (Micro-controller Guide), RIT Dept. of Computer Engineering CONCLUSIONS: Sensors with 1-, 3-, and 6- degrees of freedom, accelerometers, inertial measurement units, and flex sensors were explored. The sensors are currently being tested for individual functionality and usability in a system as a whole. Test fixtures were designed and are being built for testing the sensors' accuracy, and leave opportunity for further testing. Microcontroller is being tested for functionality, accuracy, and compatibility with sensors. RIT research team, (P10011- Motion Tracking Human Interface), is working closely with this project to design sensor enclosures and attachment methods that can be easily sanitized, and are comfortable to wear. Viable options for each sensor, and microcontroller capabilities will be compiled thoroughly at the end of project term. ADDITIONAL INFORMATION: For additional information visit our team website online at: https://edge.rit.edu/content/P10010/public/Home.https://edge.rit.edu/content/P10010/public/Home This material is based upon work supported by the National Science Foundation under Award No. BES-0527358. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author and do not necessarily reflect the views of the National Science Foundation. FUTURE APPLICATIONS: University and Biomedical Companies R&D Physical Therapy Clinics Athletic departments Military Entertainment (Video Gaming, Animation) Bio-robotics Medical Applications CUSTOMER NEEDS: The Product should be Portable The Product should be Accurate The Product should be Easy to Use The Product Should be Sanitary The Product should be Comfortable for Patient The Product should be Durable TEST FIXTURE DESIGNS CONCEPTS: SELECTED MICRO-CONTROLLER: Arduino Mega Microcontroller WORK IN PROGRESS: Sensors are being integrated with fixtures for accuracy testing Multiple Test fixture builds are being completed Microcontroller is being tested for data-processing, ADC functionality, and storage Sensors will be connected to microcontrollers to test compatibility and handling PROJECT DELIVERABLES: Provide future research teams with sufficient tools to create a portable motion tracking device. Enhance the knowledge base of the RIT Biomedical Systems and Technologies Track regarding sensor usage in human motion tracking. SYSTEM OVERVIEW: SELECTED SENSORS: Resistive Response Flex Sensor +/-2g Tri-axis Accelerometer 6 DoF Razor Ultra-Thin IMU Digital Output "Piccolo“ Accelerometer 6 DoF- Atomic IMU