MSD 1 Group P 14546 VIRTUAL REALITY DATA

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MSD 1 Group P 14546 VIRTUAL REALITY DATA GLOVE Sub-System Design Review

MSD 1 Group P 14546 VIRTUAL REALITY DATA GLOVE Sub-System Design Review

Introductions Name Role Corey Rothfuss Team Leader Kayla King Mechanical Engineer Josh Horner Mechanical

Introductions Name Role Corey Rothfuss Team Leader Kayla King Mechanical Engineer Josh Horner Mechanical Engineer Ryan Dunn Electrical Engineer David Yoon Electrical Engineer Matthew Nealon Electrical Engineer Cody Stevens Electrical Engineer

Agenda � � Project Overview - Background System Design Review � � � Subsystem

Agenda � � Project Overview - Background System Design Review � � � Subsystem Design � � � � � Current Concept System Function Decomposition Final Concept Selection Concept and Architecture development Subsystem Functional Decomposition Mechanical Design Electrical Design Software Design Bill of Materials (BOM) with Estimated Cost Proof-of-Concept Engineering Analysis Risk Assessment Test Plan Project Plan

Background

Background

Problem Statement � Current State � Current techniques use active markers with cameras to

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 that is lightweight, durable, and relatively inexpensive � The glove will not interfere with user’s natural hand movements � Sensors transmit 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 ○ More sensors � Constraints � Must be able to stay within budget means

Current Concept Virtual Reality is used to simulate 3 D environments using multiple cameras,

Current Concept Virtual Reality is used to simulate 3 D 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 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 �

Current Concept

Current Concept

Additional Deliverables � Functional Prototype that will be used in the center for imaging

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

Stakeholder(s) Primary Customer: Gabriel Diaz � Contact: Gabriel. Diaz@rit. edu 585 -317 -3595 �

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

Open Items From Last Review Refine Customers needs, Engineering Requirements � Purchase Flex Sensors

Open Items From Last Review Refine Customers needs, Engineering Requirements � Purchase Flex Sensors for feasibility study � �Purchased 5 sensors to test � Find budget and how to distribute between MSD I and II � 30/70 split � Update Functional Decomposition to subsystem level

Customer Requirements Customer Importance Rqmt. # Description CN 1 9 CN 2 CN 3

Customer Requirements Customer Importance Rqmt. # Description CN 1 9 CN 2 CN 3 CN 4 9 9 1 Provides accurate data about first metacarpal- phalangeal joint flexion (finger joints at the base of the fingers, closest to the wrist) Provides accurate data about proximal inter-phlangeal joint flexion (the middle joints of the finger) Provides accurate data about rotatation of the wrist Provides accurate data about bending of the fingertip joint CN 5 CN 6 CN 7 CN 8 CN 9 CN 10 CN 11 CN 12 CN 13 CN 14 CN 15 CN 16 CN 17 CN 18 CN 19 CN 20 1 9 9 9 9 Provides accurate data separation of the fingers Provides accurate data about flexing of the wrist Tracks grasp rate and grasp time of the hand Angle measurements are within a couple degrees Provides calibration routine (i. e. to map from sensor voltages to joint angles) Data rate of at least 60 Hz Communicates wireless with computer Latency time of no more than 50 ms Any connecting wires must be 20 ft long Outputs data to current Python-based system Any batteries being used must be removable Does not impede movement more than a standard medium-weight glove Fits a range of hand sizes, especially the sizes of college students. Lightweight Quick start-up Reliable operation - will not fail during data collection CN 21 CN 22 CN 23 9 3 3 Safe to use Easily repairable If only one glove can be prototyped, it should be the right hand CN 24 1 Keep gloves from getting sweaty Comments/Status not a priority, nice if possible within time/budget constraints small, medium, and large sizes Does not weigh the hand down Turn on and put glove on Does not electrocute user or cut/scrape user with use mostly Dr. Diaz's responsibility (He will address when prototype is made)

Engineering Requirements

Engineering Requirements

System Design

System Design

Alternatives Considered

Alternatives Considered

Selected Concept #1 Pros: � Uses Flex Sensors � Finger flexion � Wrist flexion

Selected Concept #1 Pros: � Uses Flex Sensors � Finger flexion � Wrist flexion ○ Commonly used in other models currently on the market � Camera Markers for wrist rotation � Lightweight � Accurate � Positional Sensors � Fits multiple hand sizes without the need for multiple gloves Cons: � Springs for finger separation � May not be safe � May impede natural movement

Alternatives Considered

Alternatives Considered

Selected Concept #4 Pros: � Camera Markers for wrist rotation � Lightweight � Accurate

Selected Concept #4 Pros: � Camera Markers for wrist rotation � Lightweight � Accurate � Adjustable Knuckles � Fits multiple hand sizes without the need for multiple gloves � Sensors between fingers � Safer than springs � Skeleton figure � Easily repairable Cons: � Uses Hall-effect Sensors � Finger flexion � Wrist flexion ○ � Not as accurate as flex sensors Sensors between fingers � May impede natural movement

Final System Design Concept

Final System Design Concept

Concept Details � Measures Finger Flexion � Flex Sensors � Measures Wrist Rotation �

Concept Details � Measures Finger Flexion � Flex Sensors � Measures Wrist Rotation � Active Camera Markers on Forearm � Measures Finger Separation � Abduction Sensors (Flex Sensors) � Placing sensors on hand � Glove � Adjust to hand sizes � Adjustable bend points � Transmit Data � USB � Pre-Process Filter � Notch Filter � Collect Data � MSP 430 development board

Power Supply Concept Architecture User Glove/Wrist Assembly Processor Computer Interface Sensors • Fingers/Wrist Outputted

Power Supply Concept Architecture User Glove/Wrist Assembly Processor Computer Interface Sensors • Fingers/Wrist Outputted Data

Subsystem Design

Subsystem Design

Functional System Decomposition Track Hand Movement Put accessories on Wrist Secure measurement instruments Adjust

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

Functional Sub-System Decomposition Measure Wrist Flexion Mount Sensor Keep in correct Orientation Make sure

Functional Sub-System Decomposition 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 Measure angle of finger flexion Mount Sensor Keep in correct Orientation

Functional Sub-System Decomposition 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 Measure twist of wrist Mount Markers Keep in correct Orientation Locate

Functional Sub-System Decomposition Measure twist of wrist Mount Markers Keep in correct Orientation Locate Sensor Calibrate Markers Connect Wire Terminals to battery source

Functional Sub-System Decomposition Measure span of fingers Mount Sensor Keep in correct Orientation Make

Functional Sub-System Decomposition 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 Put Accessories on wrist Mount wristband Place microcontroller on top of

Functional Sub-System Decomposition 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 Connect to Computer Transmit Data Pre-Process Filter out noise from surrounding

Functional Sub-System Decomposition 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

Mechanical Design � Gloves � Between a baseball glove, lacrosse glove, and BMX glove

Mechanical Design � Gloves � Between a baseball glove, lacrosse glove, and BMX glove CAD Model of hand ○ Needs to be rigid enough to hold the sensors in the correct orientation ○ Needs to be able to move all five fingers and wrist without restricting hand movements � This will be more easily evaluated through experimentation rather than theoretical calculations

Mechanical Design � Wrist/Arm Assembly � A Flat, Plastic wrist piece that is similar

Mechanical Design � Wrist/Arm Assembly � A Flat, Plastic wrist piece that is similar to a large watch to hold the microcontroller and wiring � Similar to Cybergloves wristband � A sleeve (like a shooting sleeve in basketball) with active marker sensors will be used to measure wrist rotations

Location of flex sensors

Location of flex sensors

Electrical Design � Flex Sensor System Architecture Flex Sensor Circuitry Instrumentation amplifier Analog Filter

Electrical Design � Flex Sensor System Architecture Flex Sensor Circuitry Instrumentation amplifier Analog Filter Analog to Digital Conversion Sample and process data Transmit Data

Electrical Design � Circuit Typology Voltage Divider Implementation Wheatstone Bridge Implementation

Electrical Design � Circuit Typology Voltage Divider Implementation Wheatstone Bridge Implementation

Electrical Design � Circuit Typology (Continued) Instrumentation Amplifier

Electrical Design � Circuit Typology (Continued) Instrumentation Amplifier

Electrical Design � Flex Sensors � Spectra-symbol 2. 2”

Electrical Design � Flex Sensors � Spectra-symbol 2. 2”

Electrical Design � Flex Sensors � Neoprene Flex Sensor

Electrical Design � Flex Sensors � Neoprene Flex Sensor

Software Design Code interface with ADC � Digital Filtering and Data Conversion � Communication

Software Design Code interface with ADC � Digital Filtering and Data Conversion � Communication Protocol �

Bill of Materials Name of Item Number Description Vendor Unit Manufacturer Cost 2. 2"

Bill of Materials Name of Item Number Description Vendor Unit Manufacturer Cost 2. 2" Flex Sensor SEN-10264 Flex Sensor Spark Fun Spectra Symbol Neoprene Sensors NFS-01 Abduction sensor Images SI Microcontroller MSPEXP 430 G 2 Microcontroller Dev. Mouser Board TI Wiring RIT 0 MS Superstore EVS 45 1 45 Wiring Total Quantity Cost 7. 95 22 174. 9 15 10 150 10. 99 2 21. 98 0 Gloves G 1 Gloves Hand Bust HB 1 Hand Bust-3 D Print RIT 0 2 0 Wrist Strap WS 1 Wrist Strap-3 D Print RIT 0 2 0 Active Markers AM 1 LED Active Markers RIT CIS Dr. Diaz 50 6 300 S 1 Sleeve to Place active markers UA 15 2 30 Sleeve UA Total Note: This is for two hands (worst case price) $721. 88

Proof-of-Concept � Oscilloscope data of flex sensor – 4. 5” Spectra Symbol

Proof-of-Concept � Oscilloscope data of flex sensor – 4. 5” Spectra Symbol

Risk Assessment Risk Item 1 Too much interference from electrical noise 2 Weight of

Risk Assessment Risk Item 1 Too much interference from electrical noise 2 Weight of glove is unmanageable 3 Technical Expertise Effect Cause Action to Minimize Risk Owner 3 27 More advanced signal filter techniques EE 3 9 27 Make the glove lighter, find more lightweight sensors Team Needing to do more Not enough competency 9 research do the required task 1 9 Seek out help, Use online resources, speak with guides and champions, teammates Team Inaccurate data High density of electronic 9 devices, lack of shielding Importa nce ID Likeliho od Severit y Technical Restricts natural hand Too much weight from movement sensors 4 Conflicting Customer Needs Not being able to meet goals Budgetary, expertise, time, or physical restrictions 3 3 9 Talk to Professor Diaz and Ed Hanzlik and discuss options of either alternate plans or lowered expectations for deliverable goals 5 Flex Sensor does not produce repeatable data Inaccurate data Poor Sensor Selection 3 3 9 Re-iterate Sensor selection process EE's 6 Sensors Break or Kink Inaccurate/Loss data User Malpractice 3 3 9 Better User Training Dr. Diaz and Team 7 Wires Disconnect or break Loss of that finger's data Fatigue 3 3 9 Strongly secure wiring EE's 8 Sensors Lose Orientation Inaccurate data Different Finger Sizes 3 3 9 Proper Sensor supports and placement ME's 9 Eval Board Bug System Crashes Poor Code 3 3 9 Test Code EE's 10 Electrical components shorts Damage to the electrical components Mishandling of electronics 1 9 9 Proper Safety Procedure EE's 11 Glove tear or rip Compromise of structure Fatigue 1 9 9 Proper Glove Selection and care ME's 3 1 3 Adapt to the new needs and discuss options of meeting those goals. Frequent Customer/Team communication with professor Diaz 1 3 3 Re-iterate concept selection process 12 Change in Customer Needs Not being able to complete that goal New programming language, lab went wireless, etc. 13 Selected concept needs adjustment(s) Lose valuable time Poor concept selection Team

Risk Assessment 1 2 3 4 5 Scheduling Conflicts Cause Can’t get 7 people

Risk Assessment 1 2 3 4 5 Scheduling Conflicts Cause Can’t get 7 people with together to do different important team schedules tasks 9 3 Not being able to What if the budget is Not having enough complete the 3 too low funding project 9 People are idle One person task Distributing work and one person but heavy 9 1 is overworked workload Don’t order it Lead time for parts Lose valuable early enough, 3 3 too long time Chose USPS His share of Underperforming Too busy, lazy, work is not 3 3 Team member etc. completed 6 Poor Planning 7 Allergic to glove 8 Effect Setback Time Not knowing Poor project what/when it is plan, poor 3 3 due, missing communication, deliverables unclear goals Allergic no caution Reaction warning in user 1 9 or……. . Death manual Not being able First project was to meet critical cancelled and 3 1 deadlines/deliv lost critical time erables Importance Risk Item Severity ID Likelihood Non-Technical Action to Minimize Owner Risk Updating Google Calendars, 27 facebook, text, etc. Find a time to meet Team Find out budget early, benchmark research 27 costs, order on time to save on delivery costs Team 9 9 Others focus on others aspect of projects. Iterate project planning and estimate the time it will take Choose, Fed. Ex, UPS, or DHL. Order it early Corey Team 9 Communicate with team and guide Team 9 Make a well done project plan, iterate on the project plan, consult with guide and customer Team 9 Create warning in user manual Team 3 Schedule additional meeting times to Team/Hanzlik make up for the time allotted

Engineering Analysis Needed � Determine best glove to minimize wear while retaining comfort �

Engineering Analysis Needed � Determine best glove to minimize wear while retaining comfort � For not restricting natural hand movements and to be comfortable � To be breathable to keep from excessive sweating Determine current and voltage needed to operate system � Determine data rate transfer of microprocessor � � Finding correct digital converter and microcontroller � Finding correct code needed to convert it into useable data � Determine Latency of code Determine Analog Circuit Sensitivity � Determine Analog Circuit Linearity � Test flex sensors with the help of Dr. Debartolo � � Variable bend points due to different sized hand

Test Plan Outline � Test accuracy of sensors �Verify +/- degree error � Test

Test Plan Outline � Test accuracy of sensors �Verify +/- degree error � Test sensors ergonomics �Put on fingers and see if they restrict movement ○ Too heavy, too big for fingers, etc. . � Test if USB is enough power for the system or if a additional power source is needed �Plug it into the microcontroller and see if it works

Project Plan (Detailed Design)

Project Plan (Detailed Design)

Questions?

Questions?