Motion Tracking System Research and Testing Rochester Institute of Technology
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Motion Tracking System Research and Testing Rochester Institute of Technology DAVID J. MONAHAN (ME) JAMES K. STERN (ME) JAHANAVI S. GAUTHAMAN (EE) ASSIS E. NGOLO (CE) CORY B. LAUDENSLAGER (EE) BRIAN D. GLOD (CE) 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. 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. TEST PLAN OVERVIEW: Componen t Measurement of Interest Test Fixture Degrees of Freedom & Range Test Fixture Accuracy of Individual Measurements Test Fixture Accuracy over Time Test Fixture Safety/Nondestructive Testing Sensors Output Signal Sensors Power Sensors Output Signal Quality Sensor Power Sensors Accuracy of Individual Measurements Sensors Accuracy over Time Sensors Degrees of Freedom & Range Sensors Accuracy/DOF with 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 P10010 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 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 TEST FIXTURE DESIGNS CONCEPTS: SELECTED MICRO-CONTROLLER: Arduino Mega Microcontroller PROJECT DELIVERABLES: • 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. SYSTEM OVERVIEW: +/-2g Tri-axis Accelerometer 6 DoF Razor Ultra-Thin IMU Output 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. FINAL KNOWLEDGE Sensor & MCU: Research, Selection Matrices, Detailed Sensor Information, & Sensor Evaluation Results Test Fixtures Research & Manufacturing Plans Test Plan Procedure for Testing & Analyzing Data FINAL INFRASTRUCTURE 4 Completed Test Fixtures Sensor & MCU Hardware Extensive MCU Code General Operation , Data Storage/Translation MATLAB Code: Testing/Analysis FUTURE APPLICATIONS •RIT Multidisciplinary Senior Design Teams •Physical Therapy Clinics •Entertainment (Video Gaming, Animation) • Bio-robotics • Medical Applications 6 DoF- Atomic IMU on Pendulum Fixture: Output vs. MATLAB Model 6 DoF- Atomic IMU 6 DoF Razor Ultra-Thin IMU SENSOR RESULTS OVERVIEW: 6 DoF- Atomic IMU The ATMega1280 MCU is capable of sampling 16 analog inputs with a worst-case sample rate of 240 Hz. Currently the MCU logs the 10-bit A/D conversions to a 2GB micro- SD card provided by Libelium. The data is then converted back into voltages for analysis. Angles are determined by double integration using the trapezoidal rule.
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Motion Tracking System Research and Testing Rochester Institute of Technology. DAVID J. MONAHAN (ME) JAMES K. STERN (ME) JAHANAVI S. GAUTHAMAN (EE) ASSIS E. NGOLO (CE) CORY B. LAUDENSLAGER (EE) BRIAN D. GLOD (CE). BACKGROUND: - PowerPoint PPT Presentation
Transcript of Motion Tracking System Research and Testing Rochester Institute of Technology
Motion Tracking SystemResearch and Testing
Rochester Institute of Technology
DAVID J. MONAHAN (ME)
JAMES K. STERN (ME)
JAHANAVI S. GAUTHAMAN (EE)
ASSIS E. NGOLO (CE)
CORY B. LAUDENSLAGER (EE)
BRIAN D. GLOD (CE)
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.
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.
TEST PLAN OVERVIEW:Component
Measurement of Interest
Test FixtureDegrees of Freedom & Range
Test FixtureAccuracy of Individual Measurements
Test Fixture Accuracy over Time
Test FixtureSafety/Nondestructive Testing
Sensors Output SignalSensors PowerSensors Output Signal QualitySensor Power
SensorsAccuracy of Individual Measurements
Sensors Accuracy over Time
SensorsDegrees of Freedom & Range
SensorsAccuracy/DOF with Enclosures
MCU Read and StoreMCU PrecisionMCU FunctionalityMCU-PC Data FormatMCU DataMCU-Sensor Amplify SignalMCU-Sensor FilterMCU-Sensor PowerSensors & MCU's
Dimensions, Weight
P10010
ACKNOWLEDGEMENTS:Nazareth Physical Therapy Institute (Primary Customer)
Dr. Elizabeth DeBartolo (Team Guide), RIT Dept. of Mechanical EngineeringDr. Daniel Phillips (Sensors Guide), RIT Dept. of Electrical Engineering
Dr. Roy Czernikowski (Micro-controller Guide), RIT Dept. of Computer Engineering
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
TEST FIXTURE DESIGNS CONCEPTS:
SELECTED MICRO-CONTROLLER:
Arduino Mega Microcontroller
PROJECT DELIVERABLES: • 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. SYSTEM OVERVIEW:
+/-2g Tri-axis Accelerometer
6 DoF Razor Ultra-Thin IMU Output
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.
FINAL KNOWLEDGESensor & MCU: Research, Selection Matrices, Detailed Sensor Information, & Sensor Evaluation ResultsTest Fixtures Research & Manufacturing PlansTest Plan Procedure for Testing & Analyzing Data
FINAL INFRASTRUCTURE4 Completed Test FixturesSensor & MCU HardwareExtensive MCU Code
General Operation , Data Storage/Translation
MATLAB Code: Testing/Analysis
FUTURE APPLICATIONS •RIT Multidisciplinary Senior Design
Teams •Physical Therapy Clinics
•Entertainment (Video Gaming, Animation)
• Bio-robotics• Medical Applications
6 DoF- Atomic IMU on Pendulum Fixture: Output vs. MATLAB Model
6 DoF- Atomic IMU
6 DoF Razor Ultra-Thin IMU
SENSOR RESULTS OVERVIEW:
6 DoF- Atomic IMU
The ATMega1280 MCU is capable of sampling 16 analog inputs with a worst-case sample rate of 240 Hz. Currently the MCU logs the 10-bit A/D conversions to a 2GB micro-SD card provided by Libelium. The data is then converted back into voltages for analysis. Angles are determined by double integration using the trapezoidal rule.
