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 - Background  System Design Review Current Concept System Function Decomposition Final Concept Selection Concept and Architecture development  Subsystem Design 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

4. Background

5. 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

6. 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 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. 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. 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

11. Customer Requirements Customer Rqmt. # 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) CN39Provides accurate data about rotatation of the wrist CN41Provides accurate data about bending of the fingertip joint CN51Provides accurate data separation of the fingers not a priority, nice if possible within time/budget constraints CN69Provides accurate data about flexing of the wrist CN79Tracks grasp rate and grasp time of the hand CN89Angle measurements are within a couple degrees CN99Provides calibration routine (i.e. to map from sensor voltages to joint angles) CN109Data rate of at least 60Hz CN111Communicates wireless with computer CN129Latency time of no more than 50ms CN139Any connecting wires must be 20ft long CN149Outputs data to current Python-based system CN159Any batteries being used must be removable CN169Does not impede movement more than a standard medium-weight glove CN179Fits a range of hand sizes, especially the sizes of college students. small, medium, and large sizes CN189Lightweight Does not weigh the hand down CN199Quick start-up Turn on and put glove on CN209Reliable operation - will not fail during data collection CN219Safe to use Does not electrocute user or cut/scrape user with use CN223Easily repairable CN233If only one glove can be prototyped, it should be the right hand CN241Keep gloves from getting sweaty mostly Dr. Diaz's responsibility (He will address when prototype is made)

12. Engineering Requirements

13. System Design

14. Alternatives Considered

15. Selected Concept 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

16. Alternatives Considered

17. Selected Concept 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

18. Final System Design Concept

19. Concept Details  Measures Finger Flexion Flex Sensors  Measures Wrist 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

20. Concept Architecture

21. Subsystem Design

22. 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 twist of wrist Mount Markers 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

23. 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

24. 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

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

26. 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

27. 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

28. 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

29. Mechanical Design  Gloves Between a baseball glove, lacrosse glove, and BMX glove CAD Model of handCAD 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

30. Mechanical Design  Wrist/Arm Assembly 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

31. Location of flex sensors

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

33. Electrical Design  Circuit Typology Voltage Divider Implementation Wheatstone Bridge Implementation

34. Electrical Design  Circuit Typology (Continued) Instrumentation Amplifier

35. Electrical Design  Flex Sensors Spectra-symbol 2.2”

36. Electrical Design  Flex Sensors Neoprene Flex Sensor

37. Software Design  Code interface with ADC  Digital Filtering and Data Conversion  Communication Protocol

38. Bill of Materials Name of Item Item NumberDescriptionVendorManufacturer Unit CostQuantity Total Cost 2.2" Flex SensorSEN-10264Flex SensorSpark FunSpectra Symbol7.9522174.9 Neoprene SensorsNFS-01Abduction sensorImages SI 1510150 Microcontroller MSP- EXP430G2 Microcontroller Dev. BoardMouserTI10.99221.98 Wiring RIT 00 GlovesG1Gloves MS SuperstoreEVS451 Hand BustHB1Hand Bust-3D PrintRIT 020 Wrist StrapWS1Wrist Strap-3D PrintRIT 020 Active MarkersAM1LED Active MarkersRIT CISDr. Diaz506300 SleeveS1 Sleeve to Place active markersUA 15230 Total $721.88 Note: This is for two hands (worst case price)

39. Proof-of-Concept  Oscilloscope data of flex sensor – 4.5” Spectra Symbol

40. 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

41. Risk Assessment Non-Technical IDRisk ItemEffectCause Likelihood Severity Importance Action to Minimize Risk Owner 1 Scheduling 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/deliv erables First project was cancelled and lost critical time 313 Schedule additional meeting times to make up for the time allotted Team/Hanzli k

42. 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

43. 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

44. Project Plan (Detailed Design)

45. Questions?