74−5FG6.3A 74−5FG6.3A
Abstract
Introduction and Problem
Mechanical Design
Accomplishments & recommendations for continuation
Expenditures & System Cost
AcknowledgementsWe 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.
• Children born with cognitive diseases such as Autism and Cerebral Palsy have difficulty developing motor and neural function.
• 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
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 In partnership with Anschutz Medical Campus
Motion Interactive Medical Exercise Robot (MIMER)
Software Design 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
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.
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.
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 user-friendly design
Design Objectives
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
Sponsored by:
Budget: $1750Electrical• Electronics........$230• Circuitry……….....$200 • Laptop/Misc……...$585
Mechanical• Motors/Brackets….$250• Skeleton…………….…
$250• Case…………………….
$155• Misc…………………….…
$80Available Funding: $2050
Funds remaining: Available – expenditures = 2050 – 2025 = $25
Electrical• Electronics.$1000• Circuitry…….
$350 • Misc……….…..
$88
Mechanical• Robot
components..$300
• Aesthetics……$200
• Misc……………..$87
Objective Priority
Method of
Measure
Objective
Direction
Target
Cost 8 USD Minimize < $ 1,750Size 9 Height (in) Minimize < 24 in.React. Speed 10 Time (ms) Minimize < 2,000 msMovement 10 DOF Maximize ≥ 4 DOF/armWeight 8 lbs Minimize < 1 lb/per armAutonomy 8 # of Interv. Minimize < 2/sessionAttractive 10 Time (min) Maximize Holds attention of 50%
of children >10mins
Goals Reached• Microcontroller selection and
Implementation…….…………….….
• Arm Structure Constructed…..• Power Circuit
Complete………….• Implemented Our Own
Code….• Sub-One Second Delay……….
…..• Ease of
Use……………………………..
Tasks for Future Teams• Add Speech
Recognition……• Stand Alone
System………..…• Finger
Tracking………..• Speed Over
WIFI……………...
The MIMER System
Xbox Kinect
Laptop
Serial Communication to Pololu Serial Servo Controller
Output to Motors
Electrical Design
Actual System Materials Cost: $1500
Electrical• Electronics…….…….
$275• Circuitry……………..
$200• Laptop/Misc………..
$525
Mechanical• Robot components..
$250• Aesthetics…………..…
$200• Misc………………………
….$50