Transcript JIM K. STERN (ME) - EDGE - Rochester Institute of Technology

DAVID J. MONAHAN (ME)
Motion Tracking System
BRIAN D. GLOD (CE)
Research and Testing
ASSIS E. NGOLO (CE)
JIM K. STERN (ME)
Rochester Institute of Technology
JAHANAVI S. GAUTHAMAN (EE)
CORY B. LAUDENSLAGER (EE)
BACKGROUND:
National Science Foundation (NSF) has extensively helped RIT’s Assistive Devices family develop a strong relationship with the Nazareth
College Physical Therapy Clinic. Physical therapists at Nazareth have long expressed a desire for portable motion tracking devices enabling
monitoring of patients’ motion in their natural environments. Previously, two motion tracking projects, one tasked to track limb motion,
and the second focusing on lower back (lumbar) motion were slated. Due to challenges identified from these prior motion tracking
projects, the two were combined to create this P10010, project. Instead of creating a fully functional motion tracking system, P10010 will
focus on developing a foundation of knowledge for future motion tracking projects. To realize the need for patient-sensor interfaces
options, a sister team, P10011, was created with whom P10010 will work closely.
MISSION STATEMENT:
To research sensors and implementation methods for portable motion tracking systems capable of measuring patients' range of motion in
their natural environments. The various aspects of a motion tracking system: sensors, a portable micro-controller, interface circuitry,
software, and human interfaces are explored. The primary ranges of motion of interest:
• Motion of a human limb, where a limb is defined as a 3-bar linkage, for example: upper leg, lower leg, and foot.
• Motion of a human's lower back, where it is defined as the lumbar region, with 3 points of contact: sacrum, L1-L2, L3-L5.
CUSTOMER NEEDS:
• The Product should be Portable
• The Product should be Accurate
• The Product should be Easy to Use
• The Product Should be Sanitary
• The Product should be Comfortable for Patient
• The Product should be Durable
• Provide future research teams with sufficient tools
to create a portable motion tracking device.
• Enhance the knowledge base of the RIT Biomedical
Systems and Technologies Track regarding sensor
usage in human motion tracking.
WORK IN PROGRESS:
• Sensors are being integrated with fixtures for
accuracy testing
• Multiple Test fixture builds are being completed
• Microcontroller is being tested for data-processing,
ADC functionality, and storage
• Sensors will be connected to microcontrollers to
test compatibility and handling
SYSTEM OVERVIEW:
DESIGN SPECIFICATIONS:
Specification
TEST PLAN OVERVIEW:
Measurement of
Component
Interest
Degrees of Freedom & Range
Accuracy of Individual
Test Fixture
Measurements
Test Fixture
Accuracy over Time
Test Fixture
Safety/Nondestructive Testing
Sensors
Output Signal
Sensors
Power
Sensors
Output Signal Quality
Sensor
Power
Accuracy of Individual
Sensors
Measurements
Sensors
Accuracy over Time
Sensors
Degrees of Freedom & Range
Accuracy/DOF with
Sensors
Enclosures
MCU
Read and Store
MCU
Precision
MCU
Functionality
MCU-PC
Data Format
MCU
Data
MCU-Sensor
Amplify Signal
MCU-Sensor
Filter
MCU-Sensor
Power
Sensors & MCU's Dimensions, Weight
PROJECT DELIVERABLES:
Test Fixture
SELECTED SENSORS:
Resistive Response Flex Sensor
TEST FIXTURE DESIGNS CONCEPTS:
+/-2g Tri-axis
Accelerometer
Digital Output
"Piccolo“
Accelerometer
6 DoF Razor
Ultra-Thin IMU
6 DoF- Atomic IMU
Importance
Unit Ideal Value
Accuracy of Angles
High Degrees
±1
Range of Angles
High Degrees
360
Size of Sensor
Medium
mm3
30x30x15
Degrees of Freedom
Medium
Axis
3
Size of Data Storage
High
GB
5
Sampling Frequency
High
Hz
100
Input Voltage
High
V
9
Range of Data
Transmission
High
Ft
5
Weight of MicroController
High
kg
<.5
Set-up Time
Low Minutes
10
Battery Life of the system
High
Hours
24
Weight of Sensors
High
g
10
Data transfer : Device to
PC
Low Minutes
3
Angles are displayed for
user
High
N/A C3D Format
Wireless Solution
Medium
N/A
Wireless
Comfort of Sensors on
Person
High Subjective
Yes
Attachment and Patient
Safety
High SubjectivePatient is Safe
Budget
Dollars
500
SELECTED High
MICRO-CONTROLLER:
Arduino Mega Microcontroller
FUTURE APPLICATIONS:
CONCLUSIONS:
• Sensors with 1-, 3-, and 6- degrees of freedom, accelerometers, inertial measurement units, and flex sensors were explored.
• The sensors are currently being tested for individual functionality and usability in a system as a whole.
• Test fixtures were designed and are being built for testing the sensors' accuracy, and leave opportunity for further testing.
• Microcontroller is being tested for functionality, accuracy, and compatibility with sensors.
• RIT research team, (P10011- Motion Tracking Human Interface), is working closely with this project to design sensor
enclosures and attachment methods that can be easily sanitized, and are comfortable to wear.
• Viable options for each sensor, and microcontroller capabilities will be compiled thoroughly at the end of project term.
• University and Biomedical Companies R&D
• Physical Therapy Clinics
• Athletic departments
• Military
• Entertainment (Video Gaming, Animation)
• Bio-robotics
• Medical Applications
ADDITIONAL INFORMATION: For additional information visit our team website online at: https://edge.rit.edu/content/P10010/public/Home.
This material is based upon work supported by the National Science Foundation under Award No. BES-0527358. Any opinions, findings, and conclusions or recommendations expressed in this material are those of
the author and do not necessarily reflect the views of the National Science Foundation.
ACKNOWLEDGEMENTS:
Nazareth Physical Therapy Institute (Primary Customer)
Dr. Elizabeth DeBartolo (Team Guide), RIT Dept. of Mechanical Engineering
Dr. Daniel Phillips (Sensors Guide), RIT Dept. of Electrical Engineering
Dr. Roy Czernikowski (Micro-controller Guide), RIT Dept. of Computer Engineering
P10010