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.