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Wireless Assistive Control System
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Transcript of Wireless Assistive Control System
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Wireless Assistive Control System
Project leader: Benjamin Danziger, EETodd Bentley, ISEJim Corcoran, CEJay Radhakrishnan, EEPeter Drexel, EEVianna Mullar, EE
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Video
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AgendaProject Overview
• Customer Requirements• System Architecture
Design Summary• Front End• Strap• Bioradio• Testing
• Signal Processing• RC vehicleBudget
Scheduling
Future Improvements
Final Summary
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Project Criteria Mission: Prove a control system can model bio-
signals
Goal: Design an interactive proof of concept that prospective students can use at open houses
Purpose: show off the Biomedical Engineering Option
Must be safe and robust!
Commissioned by the Electrical Engineering Department
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Project Overview
RC Vehicle controlled by Electromyographic (EMG) signals
Convert surface EMG signals from human muscle to computer commands
Send commands wirelessly to an RC Vehicle
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Customer Requirements Strap
Eliminate movement artifact/transients/noise Simplify electrode application
Signal Processing Properly distinguish between the muscle groups Robust Control Algorithm Wireless Output
RC Vehicle Bio-signals must control the vehicle's
movements Visual and Audible feedback
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System Architecture
Filter
Control System
USB
RF Transmitter
RF ReceiverMicroProcessor
DC Motor (Forwards/Backwar
ds)DC Motor
(Left Right)
Lights
Audio
Right Bicep
Right Thenar
Left Bicep
Left Thenar
BioRadio
150 TX
BioRadio
150 RX
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Design Summary: Front End
Strap Design Originally wanted glove-like design Infeasible – 25 dimensions on human
hand and arm Anthropometric Design
Adjustable from 5th thru 95th percentile body types.
Expedites application of EMG sensors. Nylon material construction
Incredibly durable Nylon tubing hides wires and prevents
movements
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Design Summary: Front End
EMGs Non-invasive, uses surface
electrodes
Institute Review Board (IRB) Need approval for human testing
Use of BioRadio Collects up to 8 bio-signal channels
(we’re using 4) Safely collects all data Transmits the data wirelessly
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Data Acquisition Testing
0 1 2 3 4 5 6 7 8 9 10-0.5
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
time (s)
volta
ge (v
)
Cross talk with movement B
Muscle A
Muscle B
• Acquired data from 5 males and 5 females• Recorded Body Mass Index (BMI)
• Tested Normal Weight, Overweight and Obese
• Asked if they went to the gym• Ensured action could be
performed and recorded by BioRadio150 on all individuals
• Observe Crosstalk• Tested strap• Confirmed EMG frequency
range• Fatigue Factor
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Design Summary: Signal Processing
Custom Moving Average
Filter
Normalization(Finds max
value)
Difference(Forward-Reverse)
(Right-Left)
Level Coding
All on or
All off
Data Packet
Customer Requirements met:•Channels distinguished•EMG based algorithm•Wireless output
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Design Summary: RC Vehicle Receives commands by an RF Receiver
Powered by 6 NiMH AA batteries
Uses a ATtiny2313 Microprocessor
Uses two DC motors (one for turning, one for acceleration), each with its own H-bridge
Visual Feedback: Uses LED system
Audible Feedback: ChipCorder IC is used to play different sound effects correlating to the user’s actions
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Design Summary: RC Vehicle
Light Scheme on RC Car
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Full System Testing
Live System Tests Used all members of the team and
several IRB participants
Ensured all 4 commands were functional
Drove car around the Wetlab
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Budget
Final expenditure is $411.32
Initial cost was $339.59
Does not include the BioRadio
Budget~ $1000
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Schedule•Strap prototyping completed end of week 5
•Had motion and control end of week 7, preliminary demo for customer
•IRB testing completed end of week 9
•Final construction of RC car prototype by week 10
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Difficulties and Future Improvements
Future Improvements: Electrode Pairs Implement DSP Use servo instead of DC motor RC Vehicle with sharper turning radius
Difficulties: Obtaining a clean signal Parallel processing in “Real time”
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Final Summary
Meets all Customer Requirements
Within budget Cost= $411.32 Budget~ $1000
We will let YOU determine if it’s a success.
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Questions?
Do YOU have any Questions?