Dan Wehnes, Loren Schwappach, Tom ThedeWanderlink

EE660: Modern Solid State Devices17 November 2011 1

Engineer an innovative, portable, light-weight, ergonomic glove-like human interface device to remote control a robotic arm to function in a hazardous environment such as: Steel mill

Nuclear power plant

The Wanderlink Glove will initially: Provide simple manual controls

Provide a portable, rechargeable power source

Be able to communicate using RF with other electronic devices

Provide pressure simulation for the hand and fingers

For this application, the Wanderlink Glove will: Provide touch points at multiple locations throughout the glove

Monitor three-dimensional motion of the glove and its fingers

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The Wanderlink Glove will be able to and contain:

Electro-mini-pressure bubbles for pressure simulation

Monitor finger position/bending

Monitor realistic motion with 6 degrees of tracking (X, Y, Z, Yaw, Pitch, and Roll)

12 durable, programmable, user-adjustable, sensing, touch points

4 depressible buttons (Power, Confirm, Deny, Next) for controlling the glove

A high bandwidth swappable RF TX/RX unit for communicating with computers and other electronic devices

Swappable and reprogrammable CPU/controller

Separate rechargeable battery unit to power the glove

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Wanderlink Glove

Initial Design Concept

General Requirements

Operation (What is Expected)

▪ Black Box Diagram

Specifications / Expected Values

Logic Gate Critical Characteristics

Acceptance Plan

Conclusions

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Attached to glove externally:Small, lightweight, portable

rechargeable battery

Programmable, user-adjustable, sensing touch points

Swappable, upgradeable and reprogrammable CPU/controller

Inside of glove:6-axis realistic motion detection

device

On cuff of glove:4 depressible buttons

(Power, Confirm, Deny, Next) for controlling the glove

Throughout the glove:Electro-mini-pressure bubbles to

simulate pressure

High bandwidth swappable RF TX/RX unit

Safe

Temperature sensing / automatic shut off Portable

Light weight (<1lb)

Long-life swappable/portable battery unit (lasts 8 hours –continuous usage)

Functional

Realistic movement tracking system (6 axis)

Easily accessed touch/sensor points

High speed TX/RX unit

Flexible, breathable, comfortable Adaptable

Swappable, upgradable, programmable CPU/control module

Swappable, upgradeable TX/RX unit Reliable

Heat/fire resistant

Electronic electrostatic protection

Durable

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Conditions (User): Programs CPU/controller module Puts on glove Presses “power” button inward (battery is

charged)

User calibrates glove and synchronizes it with the robotic arm

Receives instructions, relays chosen choices to CPU using confirm/deny/next buttons

Uses glove as required

Presses “Power” button again7

Conditions (the CPU/controller module): Takes in program updates

Powers up / initializes / checks calibration Turns on/checks all glove electronics Checks for external device signals Shows User Battery Remaining

Audio signal indicates the glove has been calibrated

Begins robotic arm control

Receives signals from glove electronics Checks user sensing touch points (Every

500ms) Checks confirm/deny/next buttons Outputs data to high BW TX unit (external

devices) Robotic arm moves accordingly

Powers off glove electronics

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Attached to glove:Small, lightweight, portable

battery

Programmable, user-adjustable, sensing touch

points

Swappable, upgradeable and reprogrammable CPU/controller

Inside of glove:6-axis realistic motion

detection device

On cuff of glove:4 depressible buttons

(Power, Confirm, Deny, Next) for controlling the glove

Throughout the glove:Electro-mini-pressure

bubbles

High bandwidth swappable RF TX/RX unit

Audio out TX unit

External devices Computer

Robotic arm

Calibration signal

Major IC CharacteristicsFast Switching

Minimum Power Usage

Functional RequirementsRequirement Description Expected Values

Lightweight portable power supply

Glove shall have a lightweight rechargeable,swappable, portable battery supply capable of powering the glove electronics for 8 hours minimum. Must provide 3.6V and a minimum of 185 Wh/Kg.

Expected to be made of rechargeable Li-Poly (Lithium-Polymer) technology or the like since it is rechargeable with a power density of around185 Wh/Kg.

Realistic movement tracking system

Shall have a system for monitoring realistic motion with 6 degrees of tracking (X, Y, Z, Yaw, Pitch, and Roll)

Should result in accurate data In accordance with user hand movement. 6 (8 bit outputs) to CPU every 100ms

Temperature sensing Shall have a temperature sensor that reports data to the CPU/Control.

6 bit output to CPU every 500ms. (6 bits/500ms)

Driver software Software is used to program the CPU to synchronize the glove with an the robotic arm

Software synchronizes glove with arm

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Functional Requirements (Continued)Requirement Description Expected Values

Swappable, upgradeable, high speed, high bandwidth, RX/TX unit

Glove shall contain a high speed (GHz), high bandwidth , RX/TX unit for sending video and signal information to external devices.

Minimum 2 GHz signals

Electro-mini-pressure bubbles for fingertip pressure simulation

Based on feedback from the roboticarm, 35 bubbles move accordingly to simulate pressure

CPU receives TX from the robotic arm and moves the bubbles accordingly

Total glove weight Glove w/ power supply shall weigh no more than 3lb

Max 3lb

Three standard sizes Glove shall come in three standard sizes

Must satisfy 95% of working professionals

Synchronization Glove must be able to calibrate with the robotic arm so that the arm can move accordingly

Audio signal lets the user know if calibration was successful, then the robotic arm moves accordingly

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Importance from Greatest to Least Performance: Clock Speed: Fast Digital Switching Speed (Necessary to Handle

a Min. 2GHz Clock), Clean Digital Pulses with Optimal TR, TF

,PDHL, PDLH

Minimum Power: Utilization (Must be < 2uA per gate) = 1A/500000 devices.

Small Size

High Noise Immunity Reliability: Resistance to Electrostatic Discharge

Durability

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Setup: Testing will Proceed in a Controlled Laboratory Environment at Room Temperature Then in More Extreme Conditions

Product Specifications will be tested to ensure glove meets all minimum functional, interface, performance, and qualification requirements.

CPU/Control unit will be programmed by a computer using the USB port to run:▪ VR Glove Program

▪ OCR Detection Program

▪ Capability to TX live video & Glove Control Outputs to Computer

Measurement:

All Systems will be Measured against Specifications Expected Values

A Virtual System Will Be Designed With Projected Results

The Glove Will be Tested Against These Results

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Pass/Fail CriteriaItem Verifications Fail Pass

Portable PowerSupply

Battery Unit Lasts for 4 Hours while in Continuous Use Powering all Electronic Devices.

<4hrs >4hrs

Portable Power Supply

Battery Unit is Fully Rechargeable (For Three Cycles of 4 Hr. Testing)

<99.9% Capacity

=>99.9% Capacity

Power Supply Output

Power Supply Delivers 3.61 – 3.59V for Full 4 Hours of Use.

<3.59V 3.61-3.59V

TemperatureSensing Unit

Unit will be Tested to Ensure System Powers Off When Temperatures are at or above 100°FConditions: • Power to all electronics• Glove Being Used

Does not power off.

Safely Powers Off.

Driver Software Interface comes with driver software to sync up the glove’s chip with the interface.

Software doesn’t sync glove.

Software syncs glove.

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Pass/Fail Criteria

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Item Verifications Fail Pass

Electro-Mini-Pressure Bubbles for Texture Simulation

Test all electro-mini-pressure bubbles throughout the glove for complex simulations and interactions.

Bubbles do notmove properly

Bubbles move properly

Realistic Movement Tracking System

Realistic Motion accurately emulates (within 3°) 6 areas of tracking (X, Y, Z, Yaw, Pitch, and Roll)

>3° of Error <=3° of Error

Touch/Sensor Points

All 12 Touch/Sensor Points are Map-able/Programmable, and User-Adjustable.Points must be Win7 or later compliant HID buttons. Finger-Tip Touch Points should also be able to detect user Heart Rate.

Fails to Meet Meets

High-speed TX/RX Unit.

TX/RX Unit needs to operate at a minimum of 250Mbits/sec.

Does not TX at 250 Mbits/sec

TX at 250 Mbits/sec

Accurate TX/RX Unit.

TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6

Meets requirements for Text to Braille System with Addition Functionality for Other External Applications: VR Industry

Medical Systems

Integrating VR and Information Access

Training Programs

Students/Educators

Computer Users/Gaming Industry

Robotics

Military

The Wanderlink Glove HID has the potential to Redefine Human Interaction with Tomorrow’s Technology.

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