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  BOM - Costs  Risk Assessment  Test Plan  Project Plan for remainder of semester and MSD II

4. Project Overview

5. Current Concept  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. Current Concept

8. 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)

9. 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

10. 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

11. Action Items From Last Review  Test Flex Sensors for feasibility study Tested Neoprene, raw data, slow and quick change of flex sensor  Build software architecture to begin coding in MSD II  Create a PCB Design  3D print the “knuckles” to help with a smoother bend of flex sensor  Buy all Microcontroller items and accessories  Edge  Decide if creating our own glove or using Baseball glove would be best Baseball glove would be best – already made

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 Described in Electrical testing on why it was not a good fit Described in Electrical testing on why it was not a good fit  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 Connect to Computer Transmit Data Process Data Collect Sensor Data Functional System Decomposition

19. 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

20. 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

21. 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

22. 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

23. Mechanical Design  Glove First had issues putting sensors onto gloves with the glove already pre-stitched. Creating 3D-printed parts that would connect to the fingers and glove through stitching and velcro Using baseball glove, “knuckles”, and “ring” (shown on the next slide) the sensors will be placed on top of the fingers to give it a smoother bend radius Using a baseball glove as the glove of choice instead of our own made

24. Mechanical Design  Glove Design Open Finger design to allow for various hand lengths “Ring” will slot in to keep the flex sensor at the same height above the fingers “knuckles” create a more rounded curve and raises the sensor above the finger  These will hold the sensors in the correct orientation and in place  A fabric will be placed over the sensors so that is detachable so wires will not be showing

25. 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  Sensors will be put in place by a velcro strip along the top of the fingers and velcro on the blue connectors of the sensors

26. Mechanical Design

27. Plate for microcontroller  Will be stitched to the 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

28. Electronics Plate

29. Knuckles Assembly

30. Abduction and Adduction Sensor  Neoprene Flex Sensor

31. Stretch Sensor -Polymer that changes resistance when stretched -Recommended elongation range 40 – 50% -Concerned about hysteresis and relaxation time Identification of Hysteresis and Relaxation Parameters in Stretch Sensor

32. Stretch Sensor Identification of Hysteresis and Relaxation Parameters in Stretch Sensor

33. Flex Sensors  Flexpoint ○ 1”, 2”, 3”

34. Test Results

36. Testing

39. Circuit Design

40. 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

41. Tiva C Series EK-TM4C123GXL FT232 EVAL

42. Software Design Virtual glove power on Put curve all fingers (include thumb) to 90 degree and push calibration button on microcontroller to measure resistance on flux sensor. Put curve all fingers to 0degree and push calibration button second time on microcontroller to measure resistance on flux sensor.. No, Push reset button Calibrate data and build relationship between bending angles of fingers and flux sensor resistance. Check by user, does relationship look accurate? Yes, proceed any test with glove.

43. Risk Assessment Technical IDRisk ItemEffectCause Likelihoo d Severity Importanc e Action to Minimize RiskOwner 1 Weight of glove is unmanageable Restricts natural hand movement Too much weight from sensors 3927 Make the glove lighter, find more lightweight sensors Team 2 Sensors bend at more than one point Inaccurate data Sensors are too long or poorly placed 3927 Shorten sensors, new location ME 3 Too much interference from electrical noise Inaccurate data High density of electronic devices, lack of shielding 9327 More advanced signal filter techniques EE 4 Sensor data rails off over knuckles Inaccurate data Not smooth enough of a bend radius 9327 Create aritificial knuckle to create smoother bend ME 5 Sensors ends hit each other Inaccurate data Not overlapping enough 199 Shorten or lengthen sensors, new location ME 6 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 7 Wire Connections Breaking Loss of that sensor's data Poor job securing connection 339 New Wire connection process, better securement Team 8Technical 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 9 Selected concept needs adjustment(s) Lose valuable time Poor concept selection 133 Re-iterate concept selection process Team 10 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

44. 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

45. MSD I Budget DateVendorDescriptionAmount 3/21/2014SparkfunFlex Sensor $ 11.88 3/31/2014Images SI inc.Misc. Parts. $ 46.40 4/17/2014FlexpointFlex Sensor $ 32.11 5/5/2014Digi-KeyEval Kit and USB components $ 64.15 5/5/2014SparkfunFTDI Breakout Board and Cable $ 37.32 5/6/2014Images SI inc.Sensor Kit $ 27.50 5/6/2014AmazonJumper Wires $ 11.78 Total Spent $ 231.14 Remaining Balance $ 768.86

46. Bill of Materials Name of ItemItem NumberDescriptionVendorManufacturer Unit Cost QuantityTotal Cost Flex SensorsSEN-10264Flex SensorFlex Point $ 7.95 10 $ 79.50 ARM Eval Kit296-35770-NDEval KitDigi-KeyTI $ 13.49 2 $ 26.98 MicrocontrollerEK-TM4C123GXL Microcontroller Dev. BoardTI $ 12.99 1 PCB Board PCB1PCBEagle $ 31.50 1 Glove MaterialG1GlovesJo Ann Fabric $ 10.00 1 Hand BustHB1 Hand Bust-3D PrintRIT $ - 2 Wrist PlateWP1 Wrist Plate-3D PrintRIT $ - 2 USB CableAM1 6-Foot USB CableSpark Fun $ 3.95 1 FTDI EVAL232RFT232LUART – USBAmazonFTDI $ 34.13 1 VelcroV1VelcroJoshVelcro $ - 0 FTDI Basic BreakoutDEV-09873 FTDI Basic BreakoutSparkfun $ 14.96 1 FTDI Cable 5VDEV-09718FTDI Cable 5VSparkfun $ 17.95 1 IC USB FS Serial768-1007-1-NDUSB SerialDigi-KeyTI $ 4.50 2 $ 9.00 MOD USB RS232 DEV/EVAL FT23RL768-1023-NDUSB EvalDigi-KeyTI $ 21.00 1 Feasibility Studies Design $ 231.00 1 Total with %30 SF $ 640.85

47. Project Plan (Gate Review/MSD II) Weeks 1-3 of MSD II have first prototype completely built and tested

48. Questions?