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.