Team TENEO

Dillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen

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

RFUSB

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

Gyro

Accelerometer

ZigBee ModuleZigBee Module

Glove Architecture

A/DA/D

MSP430F2616(SPI Master)

Flex Sensor

Flex Sensor

Flex Sensor

Flex Sensor

Flex Sensor

Flex Sensor

GPIOGPIO ButtonsButtons

Processor (2274)(SPI Slave)

RF

3-Axis Accelerometer

(SPI Slave)

3-Axis Accelerometer

(SPI Slave)SPI Interface

2-Axis Gyro2-Axis Gyro

HeliHubHeliHub

PCHubPC

Hub

IRIR

Power supplyPower supply

BatteryBattery

DC/DCDC/DC

Glove User Feedback

Glove Communication

• Pairing

• Multiple devices

• Not bi-directional

• Interference

PC Hub Architecture

Battery

USBInterface

USBInterface

Processor-2274(SPI Slave)

Interface IC

Infrared Camera

RF

SPI InterfaceAtmel HID(SPI Slave)

ProcessorMSP Family(SPI Master)

32 Mhz Clock

ZigBee ®

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

• Holding a position vs. stable states

• What is lost/gained?

• What is intuitive?

• Gestures

• Hand fatigue

Basic Feature: Direct Control

Processor (2274)Master

RF

Proprietary RF Transmitter

Proprietary RF Transmitter

InterfaceCircuitry

Why Have a Feedback Controller?

• Quasi-stability

• Disturbances are possible

• Again the problem of maneuvers

• Controller transparency

Advanced Feature: Feedback Controller(Off-board configuration)

Processor (2274)Master

RF

Proprietary RF Transmitter

Proprietary RF Transmitter

Processor (2274)Master

RF

Helicopter Hub

3-Axis Accelerometer

3-Axis AccelerometerInterface

Circuitry

Proprietary RF ReceiverProprietary RF Receiver

Helicopter Servo Circuitry

Helicopter Servo Circuitry

Off-board Controller Discussion

• Feedback delay– Throttle– Servos

• Simpler implementation• “Extraneous parts”• Power• Ideally…

Advanced Feature: Feedback Controller(On-board configuration)

Processor (2274)Master

RF 3-Axis Accelerometer

3-Axis Accelerometer

Helicopter Servo Circuitry

Helicopter Servo Circuitry

2-Axis Gyro2-Axis Gyro

InterfaceCircuitry

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

• 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 Ben Patrick Jared

IR Unit X X

Drivers / USB X X

Gyroscopes / Accelerometers X X X

Flex Sensors / Buttons X X

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

BudgetItem 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.