Transcript Document

Sponsored by:
Motion Interactive Medical Exercise Robot (MIMER)
John Allison, Salem Al-Aqeel, Trevor Pier, Jacob Vickers, Lucas Wadman, Daniel White
Electrical and Computer Engineering
Co-advised by: Dr. Sudeep Pasricha, Dr. Tony Maciejewski
Abstract
The MIMER System
The Mirror Neuron System (MNS) in every human being is crucial for
development and full function. Individual neuron groups that make
up the MNS are referred to as Mirror Neuron Units. MNUs have been
theorized to be a key mechanism for imitation, learning from
other’s actions, and helping understand intentions from body
language. This system allows humans to take in auditory or ocular
cues to make a decision or to complete a task. If the system is
underdeveloped, it can be treated through repetitive movements
and practice using the MNS. Underdeveloped MNS's can be found in
some stroke victims and have also been linked to developmental
disabilities such as autism and cerebral palsy.
Accomplishments & recommendations for
continuation
Xbox Kinect
Laptop
Goals Reached
• Microcontroller selection and
Implementation…….…………….….
• Arm Structure Constructed…..
• Power Circuit Complete………….
• Implemented Our Own Code….
• Sub-One Second Delay……….…..
• Ease of Use……………………………..
Serial Communication to
Pololu Serial Servo Controller
Output to Motors
The Motion Interactive Medical Exercise Robot (MIMER) will allow a
child to practice these motions to develop their MNS to help with
their development. This projects goal is to produce MIMER, which
mimics motion using an XBOX Kinect camera with the goal of
serving children with developmental disabilities in a clinical setting.
The main purpose of this device is to provide therapy for the clients
to gain basic motor and neuronal function and bring down the
overall cost of their medical care.
In partnership with Anschutz Medical Campus
Introduction and Problem
Expenditures & System Cost
• Children born with cognitive diseases such as Autism and Cerebral
Palsy have difficulty developing motor and neural function.
Budget: $1750
• Methods of therapy vary for these children, a motion mirroring
interactive robot has been determined to be one of the best
• Anschutz Medical Campus, Assistive Technology Partners is the
organization in need of such a device
74−5FG6.3A
Electrical Design
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Design Objectives
Objective
Cost
Size
React. Speed
Movement
Weight
Autonomy
Attractive
Priority
Method of
Measure
Objective
Direction
Target
8
9
10
10
8
8
10
USD
Minimize
< $ 1,750
Height (in)
Minimize
< 24 in.
Time (ms)
Minimize
< 2,000 ms
DOF
Maximize
≥ 4 DOF/arm
lbs
Minimize
< 1 lb/per arm
# of Interv.
Minimize
< 2/session
Time (min)
Maximize
Holds attention of 50% of
children >10mins
Tasks for Future
Teams
• Add Speech
Recognition……
• Stand Alone
System………..…
• Finger
Tracking………..
• Speed Over
WIFI……………...
Custom electronics + COTS
designs for power
• Supply power to the motors,
Kinect, fan
Seamless transition between wall
and battery power
• Also, flexibility for future
expansion
12V main power (battery and
wall), step down to 5V
• 6A, peak power consumption
72W.
• Estimated average
consumption: 36W
• Powers 16 different motors,
fan, Kinect
• Custom PCB handles motor
power, Generic PCB handles
wall/battery switching
• Plugs and switches for userfriendly design
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Convert Kinect data into motor outputs
• Via Serial USB Servo controller
C#
• Native Kinect libraries
Infrared sensor reads in X,Y,Z points
• Distances in mm from set point or camera
Motor input
• Differ by controller, generally duty cycle
• Pololu controller takes in Byte Array(0-255)
How to go from X,Y,Z to correct Byte Array?
• Geometry...lots of Geometry
• Create Frame skeleton
 Struct to store all positional data points
 Utilize Kinect libraries to get positions of
each Joint
We have Joint X,Y,Z coordinate for each frame
• Create vectors to form angles at each joint
• Use inverse tangent to find the joint angle
• Some angles need reference points/vectors
to get a reliable calculation
We have angles, now what?
• Servo controller doesn't recognize angles
• Scale each angle into Byte data type
• Conform to Pololu convention and send out
Mechanical
• Electronics........$230
• Circuitry……….....$200
• Laptop/Misc……...$585
• Motors/Brackets….$250
• Skeleton…………….…$250
• Case…………………….$155
• Misc…………………….…$80
74−5FG6.3A
Available Funding: $2050
Mechanical Design
Software Design
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Electrical
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Degrees of freedom – What motions
the robot needs to accomplish
• Determined through preliminary
designs, CAD drawings
Motors: Servo Motors for accurate
positions
• Easily controllable
Hands – Custom made, able to be
expanded on in future designs
• Can be hard coded to move in
current design
3D printing – Custom parts tailored to
our needs
• Torso, mount, PCB boxes
Funds remaining:
Available –
expenditures =
2050 – 2025 = $25
Electrical
Mechanical
• Electronics.$1000
• Circuitry…….$350
• Misc……….…..$88
• Robot
components..$300
• Aesthetics……$200
• Misc……………..$87
Actual System Materials Cost: $1500
Electrical
Mechanical
• Electronics…….…….$275
• Circuitry……………..$200
• Laptop/Misc………..$525
• Robot components..$250
• Aesthetics…………..…$200
• Misc………………………….$50
Acknowledgements
We would like to thank Agilent Technologies, the primary sponsor of
the MIMER project, for their support. With Agilent's help, we are
helping test & measure effective medical uses for social robotics.
Special thanks to Michael Melonis from the Anschutz Medical
Campus University of Colorado Denver for his insight, collaboration,
and support throughout.
The MIMER team would also like to thank RobotShop.com for their
sponsorship support of this project.
The MIMER team would also like to thank Dr. Sudeep Pasricha, Dr.
Anthony Maciejewski, Dr. Anura Jayasumana, and Olivera Notaros
for their support, insights, and organizational efforts.