1. MSD1 Group P14546

2. Introductions NameRole Corey RothfussTeam Leader Kayla KingMechanical Engineer Josh HornerMechanical Engineer Ryan DunnElectrical Engineer David YoonElectrical Engineer Matthew NealonElectrical Engineer Cody StevensElectrical Engineer

3. Agenda  Project Overview – Brief Explanation  Action Items from last review  Detailed system layout  Mechanical Design  Electrical Design  Software Design  BOM - Costs  Risk Assessment  Test Plan  Project Plan for remainder of semester and MSD II

4. Project Overview

5. Current Concept

6.  Virtual Reality is used to simulate 3D environments using multiple cameras, sensors, and immersive displays  Most people know it from video games but it can be used for research applications Relate eye movements to their corresponding body movements (our project) Training in specialized tasks Healthcare  Current techniques use markers in combination with cameras to track hand motion  In some positions, markers are occluded from optical view, resulting in missing data points

7. Problem Statement  Current State Current techniques use active markers with cameras to track hand motion  Desired State The project will focus on providing a functional prototype to track hand movement that is lightweight, durable, and relatively inexpensive The glove will not interfere with user’s natural hand movements Sensors transmit useable motion data to the computer for analysis  Project Goals Analyze current designs Identify opportunities for improvement of benchmarked designs ○ Lighter ○ Better data rate ○ More accurate ○ Cheaper  Constraints Must be able to stay within budget means ($500)

8. Additional Deliverables  Functional Prototype that will be used in the center for imaging science for the Virtual Reality room  Test Data verifying correct operation  User manual for operation

9. Stakeholder(s)  Primary Customer: Gabriel Diaz Contact: Gabriel.Diaz@rit.edu 585-317-3595Gabriel.Diaz@rit.edu  Secondary Customer: Susan Farnard Contact: Farnard@cis.rit.edu 585-475-4567Farnard@cis.rit.edu  Faculty Guide: Ed Hanzlik Contact: echeee@rit.edu 585-475-7428echeee@rit.edu  Sponsor (financial support): RIT

10. Action Items From Last Review  Test Flex Sensors for feasibility study  Not responsible anymore for locating hand in VR room Shooting Sleeve with LED markers not needed  Find budget and how to distribute between MSD I and II $500 dollars, 30/70 split  Determine if sampling frequency is feasible with 10-15 sensors MSP430 Microcontroller is sufficient, but an ARM processor has additional power

11. Action Items From Last Review  Design sensor mounting structures  Determine desired microcontroller ADC resolution 10-16 bits  Find a way to keep armband from sliding around arm  How to make a durable way of connecting wires to flex sensors The Flexpoint sensors are equipped with a plastic connector  Speak to expert guides Dr. Debartalo, Mark Indovina, and Mrs. Rothfuss (Sewing Expert)

12. Customer Requirements Customer Need. # ImportanceDescriptionComments/Status CN19 Provides accurate data about first metacarpal- phalangeal joint flexion (finger joints at the base of the fingers, closest to the wrist) CN29 Provides accurate data about proximal inter-phlangeal joint flexion (the middle joints of the finger) CN31Provides accurate data about bending of the fingertip joint CN41Provides accurate data separation of the fingers not a priority, nice if possible within time/budget constraints CN59Provides accurate data about flexing of the wrist CN69Tracks grasp rate and grasp time of the hand CN79Angle measurements are within a couple degrees CN89Provides calibration routine (i.e. to map from sensor voltages to joint angles) CN99Data rate of at least 60Hz CN101Communicates wireless with computer CN119Latency time of no more than 50ms CN129Any connecting wires must be 20ft long CN139Outputs data to current Python-based system CN149Any batteries being used must be removable CN159Does not impede movement more than a standard medium-weight glove CN169Fits a range of hand sizes, especially the sizes of college students. small, medium, and large sizes CN179Lightweight Does not weigh the hand down CN189Quick start-up Turn on and put glove on CN199Reliable operation - will not fail during data collection CN209Safe to use Does not electrocute user or cut/scrape user with use CN213Easily repairable CN223If only one glove can be prototyped, it should be the right hand CN231Keep gloves from getting sweaty mostly Dr. Diaz's responsibility (He will address when prototype is made)

13. Engineering Requirements

14. System Design

15. Final System Design Concept

16. Concept Details  Measures Finger Flexion Flexpoint Sensors  Measures Wrist Flexion Flexpoint Sensors  Measures Finger Separation Abduction Sensors  Placing sensors on hand Glove  Adjust to hand sizes Adjustable bend points  Transmit Data USB  Pre-Process Filter 1 kHz Lowpass Filter  Collect Data Tiva C Series EK-TM4C123GXL Launchpad from TI

17. Concept Architecture

18. Track Hand Movement Put accessories on Wrist Secure measurement instruments Adjust to arm sizes Put on Hand Secure measurement instruments Adjust to hand sizes Measure movement Measure Wrist Flexion Mount Sensor Locate Sensor Connect Wires Measure angle of finger flexion Mount Sensor Locate Sensor Connect Wires Measure Span of fingers Mount Sensor Locate Sensor Connect Wires Connect to Computer Transmit Data Process Data Collect Sensor Data Functional System Decomposition

19. Measure Wrist Flexion Mount Sensor Keep in correct Orientation Make sure bend points are correct Locate Sensor Calibrate Sensor Connect Wires Connect Wire Terminals to Microcontroller Functional Sub-System Decomposition

20. Measure angle of finger flexion Mount Sensor Keep in correct Orientation Make sure bend points are correct Locate Sensor Calibrate Sensor Connect Wires Connect Wire Terminals to Microcontroller Functional Sub-System Decomposition

21. Measure span of fingers Mount Sensor Keep in correct Orientation Make sure bend points are correct Locate Sensor Calibrate Sensor Connect Wires Connect Wire Terminals to Microcontroller Functional Sub-System Decomposition

22. Put Accessories on wrist Mount wristband Place microcontroller on top of wrist Keep wires free from movement Adjust to wrist Sizes Attach/Detach from wrist Connect Wires Connect Microcontroller wires to flex sensor Functional Sub-System Decomposition

23. Connect to Computer Transmit Data Pre-Process Filter out noise from surrounding equipment Program Microcontroller to convert signal to bended angle Collect Sensor Data Define Input Range Define Sampling Frequency Functional Sub-System Decomposition

24. Mechanical Design  Glove First had issues putting sensors onto gloves with the glove already pre-stitched. Decided it would be best to take a step back and research and design our own glove Need to make it breathable so that people do not sweat too much in it Stretchable so it can fit various hand sizes Also find a way to hold the sensors in place and in the correct orientation Hold the microcontroller in place so it does not slide around the wrist

25. Mechanical Design  Glove Design Open Finger design to allow for various hand lengths Spandex for the palm will be used Sport Mesh (Veins and Back of hand) and for pouches for various items Neoprene for the wrist Cut-outs and 8.5” x 11” paper to trace on the paper  Create “Veins” to hold flex sensors  Neoprene velcro stitched with glove to hold microcontroller

26. Layouts for glove – Bottom Glove

27. Layouts for glove – Top Glove

28. Layouts for glove – “Veins”

29. Layouts for glove – Wristband

30. Layouts for glove – Strain Relief from wristband

31. How to Stitch Veins on Glove  Using zig-zag stitch helps work around the mesh (width between 1.5 and 2 and length at 2)

32. How to Stitch two gloves together  Straight Stitch with close spacing

33. Mounting of flex sensors Finger knuckle sensors at the fingertip Hand knuckle sensors are mounted to back of hand All GND wires combine before it reaches hole in neoprene  Top knuckle sensors will be flipped from previous design  Sensors may overlap each other by a few cm  Neoprene squares will be super glued to the sensors and then the neoprene will be stitched into place to the glove

34. Plate for microcontroller  Will be stitched to neoprene wrist assembly  Velcro will be placed between plate and the microcontroller to be able to easily remove the microcontroller in case it is damaged  The slot is to keep all the wires from the sensors in one place

35. Electrical Design Flex Sensors  Flexpoint ○ 1”, 2”, 3”  Flex Sensor Spectra-symbol 2.2”

36. Abduction and Adduction  Neoprene Flex Sensor

37. Tiva C Series EK-TM4C123GXL Clock: 80 MHz 32-bit ARM Processor 2 12 channel 12-bit ADCs 24 Timers 8 UART 32KB RAM 256 KB Flash Cost: $12.99

38. Tiva C Series EK-TM4C123GXL FT232 EVAL

39. Circuit Design

40. Test Plan for Sensors  Since it was decided that voltage divider circuitry was the chosen method of data collection, this will be written with that assumption. The first thing that needs to be done for each sensor is to determine the maximum and minimum resistances along the bend path. For the purposes of testing, when the sensor is flat it will be in the neutral position, and when it is bent to 90° it will be fully bent. The test resistance for each sensor should be the resistor whose value is closest to the unbent value. Also note if the sensor has a positive or negative flex coefficient.  Once the other half of the voltage divider has been established, record the voltage shift (using an oscilloscope) at each interval of 20° (measured using a protractor). Make a note of each bend angle and its associated voltage level. After this is complete check for the linearity of the sensor by slowly bending across the full range and back. When comparing the various sensors this will be a relative measurement.  Bi directional 2.2MΩ  Stretch 1kΩ  Flex (Spectra) 10kΩ  Flexpoint 10kΩ

41. Testing

42. Test Results

44. Bill of Materials Name of Item Item NumberDescriptionVendorManufacturer Unit CostQuantity Total Cost Flex SensorsSEN-10264Flex SensorFlex Point 7.95 1079.5 Neoprene SensorsNFS-01Abduction sensorImages SI 15 3 45 Microcontroller EK- TM4C123GXL Microcontroller Dev. BoardTI 12.99 1 Wiring RIT 00 Glove MaterialG1Gloves Jo Ann Fabric 10 1 Hand BustHB1Hand Bust-3D PrintRIT 020 Wrist PlateWP1Wrist Plate-3D PrintRIT 020 USB CableAM16-Foot USB Cable Spark Fun 3.951 FTDI EVAL232R FT232L UART – USBAmazon FTDI34.131 VelcroV1VelcroJoshVelcro000 NeopreneN11 ft x 1 ft neopreneAmazon201 Feasibility Studies Design~1001100 Total with %30 SF $394.24

45. Risk Assessment Technical IDRisk ItemEffectCause Likeliho od Severit y Importa nce Action to Minimize RiskOwner 1 Too much interference from electrical noise Inaccurate data High density of electronic devices, lack of shielding 9327 More advanced signal filter techniques EE 2 Weight of glove is unmanageable Restricts natural hand movement Too much weight from sensors 3927 Make the glove lighter, find more lightweight sensors Team 3Technical Expertise Needing to do more research Not enough competency do the required task 919 Seek out help, Use online resources, speak with guides and champions, teammates Team 4 Conflicting Customer Needs Not being able to meet goals Budgetary, expertise, time, or physical restrictions 339 Talk to Professor Diaz and Ed Hanzlik and discuss options of either alternate plans or lowered expectations for deliverable goals Team 5 Flex Sensor does not produce repeatable data Inaccurate dataPoor Sensor Selection339 Re-iterate Sensor selection process EE's 6Sensors Break or KinkInaccurate/Loss dataUser Malpractice339Better User TrainingDr. Diaz and Team 7Wires Disconnect or break Loss of that finger's data Fatigue339Strongly secure wiringEE's 8Sensors Lose OrientationInaccurate dataDifferent Finger Sizes339 Proper Sensor supports and placement ME's 9Eval Board BugSystem CrashesPoor Code339Test CodeEE's 10 Electrical components shorts Damage to the electrical components Mishandling of electronics 199Proper Safety ProcedureEE's 11Glove tear or rip Compromise of structure Fatigue199 Proper Glove Selection and care ME's 12 Change in Customer Needs Not being able to complete that goal New programming language, lab went wireless, etc. 313 Adapt to the new needs and discuss options of meeting those goals. Frequent communication with professor Diaz Customer/Team 13 Selected concept needs adjustment(s) Lose valuable timePoor concept selection133 Re-iterate concept selection process Team

46. Risk Assessment Non-Technical IDRisk ItemEffectCause Likelihood Severity Importanc e Action to Minimize RiskOwner 1Scheduling Conflicts Can’t get together to do important team tasks 7 people with different schedules 9327 Updating Google Calendars, facebook, text, etc. Find a time to meet Team 2 What if the budget is too low Not being able to complete the project Not having enough funding 3927 Find out budget early, benchmark research costs, order on time to save on delivery costs Team 3Distributing work People are idle and one person is overworked One person task but heavy workload 919 Others focus on others aspect of projects. Iterate project planning and estimate the time it will take Corey 4 Lead time for parts too long Lose valuable time Don’t order it early enough, Chose USPS 339 Choose, FedEx, UPS, or DHL. Order it early Team 5 Underperforming Team member His share of work is not completed Too busy, lazy, etc.339 Communicate with team and guide Team 6Poor Planning Not knowing what/when it is due, missing deliverables Poor project plan, poor communication, unclear goals 339 Make a well done project plan, iterate on the project plan, consult with guide and customer Team 7Allergic to glove Allergic Reaction or…….. Death no caution warning in user manual 199 Create warning in user manual Team 8Setback Time Not being able to meet critical deadlines/deliverab les First project was cancelled and lost critical time 313 Schedule additional meeting times to make up for the time allotted Team/Hanzlik

47. Risk Assessment - NEW Technical IDRisk ItemEffectCause Likeliho od Severity Importa nce Action to Minimize Risk Owner 1 Sensor data rails off over knuckles Inaccurate data Not smooth enough of a bend radius 9327 Create artificial knuckle to create smoother bend ME 2 Sensors bend at more than one point Inaccurate data Sensors are too long or poorly placed 3927 Shorten sensors, new location ME 3 Wire Connections Breaking Loss of that sensor's data Poor job securing connection 339 New Wire connection process, better securement Team 4 Sensors ends hit each other Inaccurate data Not overlapping enough 199 Shorten or lengthen sensors, new location ME

48. Project Plan (MSD I and II)

49. Questions?