Chapter 9, ROCHESTER INSTITUTE OF TECHNOLOGY
Contents
1. on the tower The users are provided with both visual and audio feedback RGB LEDs are used as both target and status state indicators A series of RGB LEDs above and below each button denotes the current target a successful touch of the target or an incorrect target touch RGB LED s are used as opposed to traditional single color LED s to limit the number of wires in the tower As displayed in Figure 9 2 blue illuminates indicating the target green indicates that the correct target has been touched and red indicates either that the incorrect target has been activated or that time has expired A PC Beep speaker is included to provide auditory feedback the tower will beep once each time the target is successfully hit For easy maintenance for the clinic the device is designed to run on a pack of four interchangeable lithium strength batteries for power By utilizing a battery powered solution rather than AC wall power the portability of the device is maximized Four AA batteries are used to provide a 6V rail Chapter 9 Rochester Institute of Technology 99 Blue Green Fig 9 2 LED lighting scheme 3 Fig 9 3 Tower base and cart which is then stepped down to 3 3V using a voltage regulator The 3 3V powers the LED s Capacitance Buttons and microcontroller The batteries can be accessed through a removable door located near the base of the tower An LCD display screen in the main tower displays t2. to enable us to enrich the value of text entry Though this project may help everyone it may have a greater impact on individuals who are deaf Two teams worked in series on this project SUMMARY OF IMPACT The project to date has resulted in the development of a force sensitive keyboard that has been tested with some users The original intent of the project was to develop a keyboard that could detect enough differences in the users typing patterns to automatically add an emotional indicator to the text but testing with users showed that this could not be done reliably The resulting design is a keyboard that can measure different typing forces and that is comfortable for most users nine out of 10 individuals trying the keyboard liked the way the keyboard felt and the way it responded to their key strikes The device functions based on learned typing skills rather than learning how to interpret each user s intent but it will still satisfy the original intent of the project The next step will be to begin software development that will allow users to set defaults such as hard A strike for angry or light W strike for whisper TULUM AANA Fig 9 7 Modified spring configuration for keyboard keys TECHNICAL DESCRIPTION The team chose to use a standard Sun Microsystems Type 7 keyboard as the platform for the device Underneath the force sensitive keys the team opted for a force sensitive resisto
3. CHAPTER 9 ROCHESTER INSIITUTE OF IECHNOLOGY Kate Gleason College of Engineering 77 Lomb Memorial Drive Rochester NY 14623 Principal Investigators Elizabeth A DeBartolo Mechanical Engineering 565 475 2152 eademe rit edu Daniel Phillips Electrical Engineering 585 475 2309 dbpeee rit edu Matthew Marshall Industrial and Systems Engineering 585 475 7260 mmmeieQrit edu 97 98 NSF 2010 Engineering Senior Design Projects to Aid Persons with Disabilities BALANCE TRAINING TOWER Computer Engineering Designer Andrew Caola Electrical Engineering Designer Jeffrey Hansley Industrial Designer Rochelle Perry Project Manager Mechanical Engineering Designers Lukas Holsen and Michael Davies Client Coordinator Dr J J Mowder Tinney Supervising Professors Dr Elizabeth DeBartolo Rochester Institute of Technology 76 Lomb Memorial Drive Rochester NY 14623 INTRODUCTION The goal of this project is to develop a balance training rehabilitation device for clients of the Physical Therapy Clinic at Nazareth College Current methods of balance training include a standing Balance Master device and a highly subjective method of asking the client to reach to a target held by the therapist This new device is designed to close the gap between these methods by providing an objective measure of reaching ability for clinic clients who use wheelchairs It will give the clients illuminated targets at challenging distances and p
4. R9 3 INV 1k ES rN Yellow Zone ol 4 ilL A us5u AD EK E R18 R14 rit H 1k 3 8 5k 017k 2 N 4j 1 e Z gapsssi AD elis i R12 0 85k 0 Fig 9 6 Balance training bicycle Chapter 9 Rochester Institute of Technology 103 104 NSF 2010 Engineering Senior Design Projects to Aid Persons with Disabilities DYNAMIC KEYBOARD Mechanical Engineering Designers Robert Piccirillo Joshua Locke Alex Moulton Marie Hammer Electrical Engineering Designers Obadiah Pulscher Adam Stull Team Leader Andrew Robertson Xingwang Gao Client Coordinator Prof Dino Laury National Technical Institute for the Deaf Supervising Professor Prof George Slack Rochester Institute of Technology 76 Lomb Memorial Drive Rochester NY 14623 INTRODUCTION Text entry applications such as word processing email notes and instant messaging all share a common keyboard scheme For people who are hearing impaired these application tools have been effective in communicating with others who cannot sign During the act of speaking and signing the integration of thought and emotion occurs simultaneously and seamlessly with little overt thought In contrast text entry differentiates or separates thought and associated emotion The keyboard only captures keystrokes and thus loses emotional expression even though the act of typing may carry some covert emotions The goal of this project is to take these learned skills of speaking and signing and use them
5. TATION PROCESS IMPROVEMENT Industrial Engineering Designer Andrew Lawlor Mechanical Engineering Designers Adam Janicki Christopher Somers and John Zeffer Client Coordinator Dennis Hezner Supervising Professor Dr Matthew Marshall Rochester Institute of Technology 76 Lomb Memorial Drive Rochester NY 14623 INTRODUCTION The goal of this project was to design and build a pressure test device for use by employees at ARCWorks a light manufacturing facility employing individuals with developmental disabilities The existing test fixture relied on water to pressure test so it was messy subjective and it slowed down the assembly line The current process involves an employee taking a cap screwing it onto a bottle plunging the bottle under water and looking for air bubbles that may be escaping which would indicate a leak Employees are generally paid on a per piece basis so it is important to make the process as clear safe and efficient as possible SUMMARY OF IMPACT The team took a two pronged approach to the problem First they designed a new test fixture for employees on this line to use The fixture is still under development and is expected to be completed over the summer It will allow a worker to run two tests simultaneously and provides a very simple objective indication system A green LED indicates a good part a red LED indicates a bad part and a yellow LED indicates that a test is in progress The second aspec
6. Wii Fit eStimulating Game Nintendo does not support Physical Therapy e Too much for patients with low Difficult to determine what actual training 1s cognitive ability happening Table 9 2 Engineering metrics and final results Optical visibility coms 70 99 se Fig 9 4 Balance training tower in use 102 NSF 2010 Engineering Senior Design Projects to Aid Persons with Disabilities BALANCE TRAINING BICYCLE lectrical Engineering Designer Daniel Bradshaw Industrial Engineering Designer Lindsay Power Mechanical Engineering Designers Christopher Crowley Lead Engineer Kristin Gagliardi Project Manager and Timothy Williams Client Coordinator J J Mowder Tinney Supervising Professor Dr Elizabeth DeBartolo Rochester Institute of Technology 76 Lomb Memorial Drive Rochester NY 14623 INTRODUCTION This device is a redesign of a prior senior design project The Physical Therapy clinic at Nazareth College engages a variety of clients in need of balance training and looking for a challenge The balance training bicycle introduces some controlled instability similar to that experienced on a freestanding bicycle without the risks associated with actual bike riding Clinic clients in need of balance training are those who have had strokes or those who have other neurological conditions that cause an imbalance in strength between the left and right sides of their bodies SUMMARY OF IMPACT The redesigned sys
7. atterns of reach and it will be easy to use for both the therapist and the client The form of the device is a tower equipped with seven capacitance buttons Each button has a bank of multicolor LEDs above and below to indicate to the user which button to try to reach when a successful hit has been made and also when the user has either hit the wrong button or has run out of time The tower is preprogrammed with two games which prompt the user to respond to different patterns of highlighted buttons SUMMARY OF IMPACT The final device was used at the clinic for two months before the clinic closed for its summer session During this time many clients used the tower and the clinic coordinator reported that users were excited to compete against one another and therapists were continuing to include the use of the balance tower in their patient plans In addition the new device only requires one therapist to work with the client rather than two one to hold a target and one to support the client This has improved the morale of some clients who unbeknownst to the team had actually felt bad for having to use more of the clinics resources It also increased the Fig 9 1 Final constructed tower effectiveness of the staff as the same amount of therapy can be carried out with one less person TECHNICAL DESCRIPTION In order to assess the need for balance training at the clinic an assessment was made of the current methods of balan
8. basic statics yielded tilt resistance data The team tested several attachment methods for the bands and the one that was most secure and easiest to remove involved tying each band onto a carabiner this enables the therapist to easily snap extra bands on and off A hard stop is also incorporated to provide a limit beyond which the rider cannot tilt This was done using a length of rope clamped onto a locking carabiner Three different tilt ranges and three different accompanying rope lengths are provided to the clinic Ihe electrical system is designed around an inclinometer that provides information about how far the rider has tilted from an upright position The clinic clients would like to receive both visual and audio feedback so the inclinometer data is used to generate an LED indicator of tilt and to create a beeping sound that changes in both pitch and frequency as the rider tilts farther off balance Ihe total cost of the project is approximately 1555 70 More information is available at http edge rit edu content P10001 public Home 02 R2 ANY 22K vi 1 Vd E R1 U2 5 Ave 22 Lik o 6 R3 gil 1 R16 11k S csr 1k 7 LM dv R5 Mr sn 5 Multimeter 3 RI7 ik TOES un S ay P UB UB Red Zone 1 gf aAps554 AD 2 ala n R6 gt 7 2 AWW i R8 le XOR INV 1k 037k 2 2 iN Rs 3 3 Speakers 1k u10 U16 U16 il ADS554 AD XOR D 1 R7 IN el 1 3 4 h Det BS y i
9. ber of inputs required by providing all 15 input signals one discarded in cycle from 4 microcontroller outputs Using this configuration 4 outputs and 5 inputs will be required to monitor all 75 sensors The 5 output signals will be provided by 5 LMC660CN op amp based amplification circuits each fed by 15 sensors The team chose an Arduino MEGA as the controller device The MEGA contains 18 analog inputs and 32 digital outputs with a digital output toggle Chapter 9 Rochester Institute of Technology 105 frequency of 100k Hz and USB capability The team did their own PCB layout for the controller interface board which houses the amplification circuits and also created PCBs for the main keyboard sensors Figure 9 9 and for the number pad sensors The final assembly is shown in Figure 9 8 This project was partly supported by the Ronald D Dodge Faculty Development Grant Total cost was approximately 1400 with 500 support from the National Science Foundation through the RAPD program More information is available at https edge rit edu content P10002 public Home and https edge rit edu content P10003 public Home Fig 9 8 Keyboard assembly 1 Key Matrix 2 foam compressive layer 3 keyboard contact sheets 4 force sensitive resistor PCB and 5 ABS back plate Fig 9 9 Force sensitive resistor PCB 106 NSF 2010 Engineering Senior Design Projects to Aid Persons with Disabilities LEAK TEST S
10. ce training by the physical therapists PT and patients with various disabilities To fill the gaps at the Physical therapy clinic there is a need for a device for seated balance training that is simple to use and visually stimulating to the patient The unit is designed such that once it is set up the therapist can focus on the patient rather than the object they need to reach Being able to quantify the patient s ability to balance will help track the patient s progress throughout their therapy sessions Ihe clinic requires a device that supports rehabilitation is safe adjustable easy to use and can be easily stored and transported Capacitance buttons are chosen as the patient user interface because they do not require the user to actually push a button with a significant amount of force and instead are activated by proximity This way the exercise can focus directly on balance and range of motion rather than ability to generate enough force to activate a button The buttons are created by using a B6TS O4LT a 16 bit micro controller designed to detect patient touch by detecting the change in capacitance Touching one of the output channels changes the capacitance between the output and ground with the body s capacitance The touch sensor detects the change and the output of that channel and changes voltages which is detected by the microcontroller Each capacitance touch sensor Sensing IC controls four aluminum buttons
11. citance chip to the aluminum plates the wires were wired in separate harnesses Ihe two soldering breadboards are arranged on opposite sides to keep wires clean and organized The MSP430 is designed so that the wires are out of the way of the hinged door for easy access to the JTAG port and the battery pack To simplify the wiring within the tower a color coded system is included Dark red is used for components requiring 3 3V light red is used for 5V components and the color of the wires going from the LEDs corresponds with the color the LED emits Software development is a very important aspect of the project Programming was initially composed in C and transferred to the flash of the MSP430 board via serial JTAG during testing Utilizing ISR techniques to queue button inputs and target statuses the board supports an extremely small time delay when sending and receiving signals from the tower The program development process is broken down into three phases Phase I includes the development of a skeleton class design port identification address detection and Input Output testing The use of various portions of code during debugging development and testing indicated that it was best to use multiple classes Because of the freedom within the IAR Embedded Workbench setting up variables at runtime is straightforward Port identification for the MSP430F1611 is provided in the datasheet specific to the DZ1611 model By identifying
12. et in order from top to bottom and records the amount of time taken to reach each target Safety features are added to the tower including an impact protective foam halo around the top of the device removable rubber edges on the corners and a rubber base along with a cart to minimize the physical therapist lifting requirements The tower displays good stability and will not become unstable and tip unless it is pushed past 24 5 which corresponds to a 2 foot displacement at the top of the tower or a 1 foot displacement at the center The client has been provided a simple user s manual that was summarized in two pages so it can be attached to the device An operator output sheet is also included so that at each physical therapy session that the product is used the PT can record important information The sheet will also act as a simple instruction manual as well since the order of the questions resembles the game design The total cost of the project is 2006 00 More information is available at http edge rit edu content P10005 public Home Chapter 9 Rochester Institute of Technology 101 Table 9 1 Benchmark training devices Advantages Disadvantages PT holds object eSimple to use No objective measure of patient progress e No set up Boring e No storage space Requires two PTs to be present SMART Balance eObjective measure of patient progress Standing only Master Difficult to use Frustrates patient Nintendo
13. he current status control actions setup communication and game choices Additionally it displays relevant information following the exercise for the PT to record on a standard worksheet The chosen screen is a Serial Enabled 20x4 LCD with Black on Green display It is chosen based on the low 5V power supply it requires and the fact that it can be coded in C The screen also includes firmware that allows adjustment of the backlight brightness For the needs of the design the MSP430 F16 11 microcontroller is used due to the extremely low power design and the large number of digital inputs and outputs and 50kB flash memory This board also offers ZigBee wireless connectivity for future implementation of communication between multiple towers Furthermore the ability to program 100 NSF 2010 Engineering Senior Design Projects to Aid Persons with Disabilities in C as well as the numerous online examples significantly shortens the learning curve The MSP430 is mounted on an easily accessible platform in the middle of the tower It is placed in the middle of the tower to minimize the amount of wire required to connect it to all seven capacitance buttons and all eight LED sets The maximum length of wire required for any connection is now half the height of the tower Wiring harnesses are designed and included to organize the inside of the tower using zip ties and electrical wire To reduce interference of the wire conducting the capa
14. isted by the operator The vacuum will then run and determine if there is a good seal on the cap If the seal is bad a red light will indicate to the operator that the part is bad and if the part is good a green light will appear The vacuum will then release its pressure allowing the operator to remove the cap and place in its respective bin This process can be run simultaneously on both of the stations on the machine Examples of good and bad part pressure curves are shown in Fig 9 12 To allow the system to function autonomously from a PC interface the team used a Programmable Logic Controller PLC to control the system The PLC will turn on the vacuum pump read the pressure sensor and control the indicator lights according to the pressure readings pass fail or in progress The PLC also reads in a user set switch position that indicates the particular configuration of cap being tested The final system testing indicated that the vacuum test fixture resulted in more rejected parts than the water test system partly because workers did not formerly hold the caps under water for a specific amount of time and some leaks only become apparent over time However the new system did allow two parts to pass that actually failed the water test Final work on this device is being done during the Summer of 2010 The total cost of the project was 2106 More information is available at https edge rit edu content P10008 public H
15. om Chapter 9 Rochester Institute of Technology 107 ML m io e m Fig 9 11 Actual pressure test system built Vacuum Decay 25 V Voltage Output Good Part B Bad Part Time sec Fig 9 12 Examples of good and bad vacuum test data 25 108 NSF 2010 Engineering Senior Design Projects to Aid Persons with Disabilities
16. r FSR The FSR is comprised of two plastic ribbons with a layer of resistive ink in between As pressure is applied to the sensor its resistive value changes It is highly durable when used properly has a very low profile and has a 0 2 diameter active region On top of the FSR the team removed the standard silicone bubble spring that is common on many keyboards and replaced it with a foam cushion The silicone bubble spring is non linear and requires a fairly significant force to initiate motion this would eliminate the possibility of using a low force keystroke to convey some sort of emotion The foam cushion Figure 9 7 was rated positively by nine out of 10 users in testing and could easily be integrated with the keyboard and sensor system There are over 70 commonly used character and functions keys on the average keyboard To allow for analysis of force applied to each key individually a system had to be devised to simplity the number of information paths required to accomplish this A total of 75 sensors are required to cover all of the associated typing keys and every key must be monitored by a standard microcontroller A sensor matrix was derived to allow for a minimal number of required inputs and outputs on a microcontroller 15 input signals and 5 output signals will be utilized to create a row column array containing all applicable keys An MM74HC4514N 4 16 IC decoder will be used to further minimize the num
17. t of the project was to improve the manufacturing process The team implemented a 55 Sort Set Shine Standardize and Sustain system in two phases which gave the operators a sense of ownership and pride in their accomplishments TECHNICAL DESCRIPTION The design team chose a vacuum pressure approach because it would be the simplest for the operators to use The pressure test fixture the team designed and built is shown in Figure 9 11 The cap sits upon a soft rubber to create a seal The two red buttons seen at the front left and right of the base plate are for the operator to initiate the test The use of two buttons ensures that the worker will not run the risk of Fig 9 10 Pressure test fixture injuring their hands or interfering with the test Shown behind the cap at the top of the back plate are the red and green light indicators These indicators show the results of the test red for a bad part and green for a good part The yellow light is illuminated when the test is in progress Below and behind the fixture not shown is a differential pressure sensor to measure the speed of pressure drop and a vacuum pump to pressurize the fixture Operation of the machine is simple and intuitive for the operator to use The operator will take a cap from their incoming lane The operator will then place the cap onto the test fixture Next the operator will press the two hand start button This will allow the machine to run unass
18. tem meets or exceeds the customer s most critical needs The primary improvements from the past designs are that the new device has more comfortable handlebars has a more clearly visible intuitive display improves stability in the upright and locked position and provides a simpler more reliable method of providing support and or resistance to the users as they tilt Although the bicycle is delivered after the clinic closed for the summer session the physical therapists who will be using the system next year have ridden the bicycle and are excited to begin using it with their clients in the fall TECHNICAL DESCRIPTION The design was broken into three subsystems including the frame tilt mechanism and electronics measurement and display The frame is designed to incorporate commercial off the shelf products where possible It includes a standard set of bicycle handlebars a standard bicycle seat and seat post and a pedal flywheel brake system from a spinning bike The tilt axis is inclined 15 from horizontal to provide a more natural tilt feel to the rider Stress analysis results showed a minimum factor of safety of 1 11 for a 300lb passenger with the critical location being at the adjustment holes in the seat post A solid plug is included to increase the factor of safety The tilt mechanism is based on a set of removable exercise bands to provide tilt resistance Tensile testing of the bands according to ASTM D348 07 and
19. the addressing properties of the MSP430 setting up ISR interrupts and accurately locating debug errors is made much easier Input and Output testing took up the majority of debugging time mainly due to a non shielded wire issue After using technologies provided to us by members of various other MSD teams to verify the issue wire was rerun using a shielded option and I O test harness Upon successful completion I O testing is marked as continued development in order for us to continually debug at each port or breadboard modification The next phase consists of the selection of a compiler and in code documentation The IAR Embedded Workbench provided by TI proves very useful The comprehensive documentation provided by TI is used throughout the project in code documentation was completed to allow even for a first time user of the MSP430 to quickly understand port I O and ISR scheduling The final phase is game development For the initial revision two games are included Random Touch and Timed Touch For both games the physical therapist is prompted to select the target buttons that should be enabled for game use Random Touch randomly lights one of the enabled targets lights that target in blue and gives the patient a pre assigned amount of time to reach and press the target If successful a chime plays and the LED rows will illuminate green otherwise the red LEDs light The second game Timed Touch shows each enabled targ
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