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