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.