DAVID J MONAHAN ME Motion Tracking System BRIAN
DAVID J. MONAHAN (ME) Motion Tracking System BRIAN D. GLOD (CE) Research and Testing ASSIS E. NGOLO (CE) JIM K. STERN (ME) Rochester Institute of Technology JAHANAVI S. GAUTHAMAN (EE) 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 P 10010, project. Instead of creating a fully functional motion tracking system, P 10010 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, P 10011, was created with whom P 10010 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, L 1 -L 2, L 3 -L 5. 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 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. WORK IN PROGRESS: • Sensors are being integrated with fixtures for accuracy testing • Multiple Test fixture builds are being completed • Microcontroller is being tested for dataprocessing, ADC functionality, and storage • Sensors will be connected to microcontrollers to test compatibility and handling SYSTEM OVERVIEW: DESIGN SPECIFICATIONS: Specification TEST PLAN OVERVIEW: Measurement of Component Interest Test Fixture Degrees of Freedom & Range Accuracy of Individual Test Fixture Measurements Test Fixture Accuracy over Time Test Fixture Safety/Nondestructive Testing Sensors Output Signal Sensors Power Sensors Output Signal Quality Sensor Power Accuracy of Individual Sensors Measurements Sensors Accuracy over Time Sensors Degrees of Freedom & Range Accuracy/DOF with Sensors Enclosures MCU Read and Store MCU Precision MCU Functionality MCU-PC Data Format MCU Data MCU-Sensor Amplify Signal MCU-Sensor Filter MCU-Sensor Power Sensors & MCU's Dimensions, Weight TEST FIXTURE DESIGNS CONCEPTS: SELECTED SENSORS: Resistive Response Flex Sensor +/-2 g Tri-axis Accelerometer Digital Output "Piccolo“ Accelerometer 6 Do. F Razor Ultra-Thin IMU 6 Do. F- Atomic IMU Importance Unit Ideal Value Accuracy of Angles High Degrees ± 1 Range of Angles High Degrees 360 Size of Sensor Medium mm 3 30 x 15 Degrees of Freedom Medium Axis 3 Size of Data Storage High GB 5 Sampling Frequency High Hz 100 Input Voltage High V 9 Range of Data Transmission High Ft 5 Weight of Micro. Controller High kg <. 5 Set-up Time Low Minutes 10 Battery Life of the system High Hours 24 Weight of Sensors High g 10 Data transfer : Device to PC Low Minutes 3 Angles are displayed for user High N/A C 3 D Format Wireless Solution Medium N/A Wireless Comfort of Sensors on Subjectiv Person High e Yes Attachment and Patient Subjectiv Patient is Safety High e Safe Budget Dollars 500 SELECTED High MICRO-CONTROLLER: Arduino Mega Microcontroller FUTURE APPLICATIONS: 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, (P 10011 - 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. • University and Biomedical Companies R&D • Physical Therapy Clinics • Athletic departments • Military • Entertainment (Video Gaming, Animation) • Bio-robotics • Medical Applications ADDITIONAL INFORMATION: For additional information visit our team website online at: https: //edge. rit. edu/content/P 10010/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. ACKNOWLEDGEMENTS: Nazareth Physical Therapy Institute (Primary Customer) Dr. Elizabeth De. Bartolo (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 P 10010
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