Clutch

Dillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen

Team TENEO

Mission • Intuitive alternative to mouse and keyboard, or any difficult to learn remote controller • Why use a glove?

Use Cases • PC-User Interaction – Non-technical every-day use: PowerPoint presentations, etc. – Technical usage: 3D or physical modeling, etc. – Media interaction: games, flight sims, virtual reality

• Remote device interaction – RC vehicle: remote control helicopter with auxiliary control

High Level Architecture RF USB

RF

RF

Design Considerations • User Interaction – Physiology: thumb, index, and middle finger – Fatigue, Comfort and intuitive gestures

• Glove – Minor hand shaking filtering – Precision in pointing – Timing

• Long term – Carpal Tunnel

Glove Architecture

Accelerometer

Gyro

Glove Architecture SPI Interface

MSP430F2616 (SPI Master) A/D

3-Axis Accelerometer (SPI Slave)

Buttons

GPIO

Processor (2274) (SPI Slave) 2-Axis Gyro

Flex Sensor

Flex Sensor

Flex Sensor

IR

ZigBee Module RF

DC/DC Power supply Battery

PC Hub

Heli Hub

Glove User Feedback

Glove Communication • Pairing • Multiple devices • Not bi-directional • Interference

PC Hub Architecture

USB Interface

Processor MSP Family (SPI Master)

Interface IC

Infrared Camera

SPI Interface

32 Mhz Clock

Battery

Atmel HID (SPI Slave)

ZigBee ®

Processor-2274 (SPI Slave)

RF

Emulation vs. Custom Device • Custom device – Advantage: Allows for entirely new level of interactivity – Disadvantage: Incompatibility with all useful programs

• Emulation Device – Advantage: Universal compatibility – Disadvantage: Visual response to gestures is far less interesting

• Verdict: Emulate for wider application

PC Interface • Default HID vs. Custom Driver – Advantage: Less development time – Advantage: More dependable driver – Disadvantage: Generally can’t tell HIDs to do things

• USB Hub identifies itself as both mouse and keyboard • Send emulated state of both mouse and keyboard to reflect glove actions

PC Configuration Utility • PC Configuration Utility – Defining gesture definitions (e.g. Modeling vs. Gaming) – Creating custom gestures – Switch between existing and custom modes

• Communication: PC to Hub – Specifying desired gesture mappings to Hub – Use built in USB boot-loader to circumvent HID interface

Emulation • What can the device emulate? – Mouse point and button clicks – Keyboard key presses – Complex gestures combined of above

• Gesture Mapping via Programmable LUTs – LUT is programmed via boot-loader interface – Single macro glove gestures equated to combination of key presses and mouse actions. – Hub calculates cursor motion from macro gesture.

IR Camera • IR camera module from PixArt – Salvaged from the Wiimote – Incorporates required image processing – Output: brightest four (x,y) points

• Inter-chip Interface – I2C for broad compatibility – Risk: Not a publicly available device. We must snoop the signals.

RC Control Dynamics • “Degrees of freedom” • Hand Control “Independence” • Learning Curves • Direct vs. Controller Reference

Our Choice: Coaxial (Blade CX2) • More inherently stable • Built in gyro to prevent yaw • Less maneuverable, more controllable

Basic Feature: Direct Control • Holding a position vs. stable states • What is lost/gained? Processor (2274) Master

• What is intuitive?

RF

• Gestures • Hand fatigue

Interface Circuitry Proprietary RF Transmitter

Why Have a Feedback Controller? • Quasi-stability • Disturbances are possible • Again the problem of maneuvers • Controller transparency

Advanced Feature: Feedback Controller (Off-board configuration) Helicopter Hub

Processor (2274) Master

Processor (2274) Master

RF

RF

3-Axis Accelerometer

Interface Circuitry Proprietary RF Transmitter

Proprietary RF Receiver

Helicopter Servo Circuitry

Off-board Controller Discussion • Feedback delay – Throttle – Servos

• • • •

Simpler implementation “Extraneous parts” Power Ideally…

Advanced Feature: Feedback Controller (On-board configuration) Helicopter Servo Circuitry Interface Circuitry 2-Axis Gyro Processor (2274) Master

RF

3-Axis Accelerometer

On-board Controller • No feedback delay • More control complexity

• More direct approach • New interface circuitry • Power • Ideally…

General Controller Concerns • • • • •

Helicopter Modeling Noise issues Sensor drift Testing leading to crashes Helicopter limitations – Response time – Physical Damping – Low bandwidth

• Risks & • Contingency Plans • Managing development in a larger team • Each member needs to help make sure the work load is divided evenly

• High-fidelity sensor-data processing (the infrared camera) • Try and use accelerometer and gyroscope data to do positioning

• Lack of wireless experience • Start with wired connections and have them available incase of RF problems

• CHC (Catastrophic Helicopter Crash) • Try and repair • Use leftover funds to purchase a new one

• Control System Difficulties • If we are unable to make a working feedback controller, we can revert to some form of direct control

Schedule

Division of Labor Task

Dillon

Robert

IR Unit

X

X

Drivers / USB

X

X

Gyroscopes / Accelerometers

Ben

Patrick

Jared

X

X

X

X

X

Flex Sensors / Buttons Software Sensor Design

X

X

Heli-Control System

X

X

Heli-RF

X

X

PCB

X

X

X

X

X

Construction

X

X

X

X

X

Budget Item

Quantity

Cost/Item

Total Cost

RF Chips (microprocessor included)

3

20

60

Gyroscope

1

40

40

3-Axis Accelerometers

2

30

60

Flex Sensors

3

15

45

Button

2

1.5

3

Helicopter

1

200

200

Helicopter Replacement Parts

4

10

40

USB Interface Board

1

30

30

MSP 430

2

Sample

0

Glove

1

25

25

PCB

4

33

132

Miscellaneous Electronic Parts

N.A.

N.A.

60

Total Estimated Cost

695

Hypothetical Functionality • Motion recording – Physical Therapy – Muscle memory

• RC vehicles – Bomb diffusing robot

• Hand disabilities • Glove could be expanded to an arm or even body suit

Questions

C.H.C.