P08006: Physical TherapyMotion Tracking System

Sponsor: National Science Foundation

Customer: Nazareth Physical Therapy Clinic

Josemaria Mora Electrical Engineer, Team LeaderEric Danielson Computer EngineerWade Daugherty Electrical EngineerBrian Leigh Electrical EngineerJen Mallory Mechanical Engineer

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Project Description

Nazareth Clinic deals mostly with stroke patients Developing a device to measure dynamic joint angles of

the leg High priority customer needs/engineering specifications:

Measurement Accuracy Max angle ± 5% Does not alter movement Sensor weight < 0.5 kg

Pack weight < 2.5 kg

Easy to use and setup Max setup time: 15 min Battery Life Duration > 1 session

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Chosen Concept Design

See Poster

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Concept Overview

Gyroscopes are enclosed and attached using Electrode-Snap System

Angular velocity data from each sensor is transmitted to microcontroller

Data is sent to computer via Bluetooth Angular displacement is calculated and

displayed Data is stored in database for future

comparison of results

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Design Summary

MSP430 collects and sends data via Bluetooth

Attachment methods adequate Data taken from gyroscopes relays pattern of

motion, not angles Met budget specifications On-time completion of system

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Project Evaluation

Success Bluetooth communication MSP430 data collection Attachment methods Software GUI

Failures Measurement Accuracy: Max angle ± 5% Transfer Rate on laptop

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A Learning Experience

Execution of Idea Handling Failure Working on Limited Resources Design Revised

Using Gyroscope Full Scale Output Receiving data with less errors

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Noise Consideration

Good Signal to Noise Ratio ~.5/0.5=20dB

Noise was not White

0 10 20 30 40 50 60 70 80 90 1001.4

1.42

1.44Sensor 1 Thigh

0 10 20 30 40 50 60 70 80 90 1001.44

1.46

1.48Sensor 2 Calf

0 10 20 30 40 50 60 70 80 90 1001.35

1.4

1.45

1.5Sensor 3 Hip

0 10 20 30 40 50 60 70 80 90 1001.44

1.45

1.46

1.47Sensor 4 Foot

0 10 20 30 40 50 60 70 80 90 100-0.02

-0.01

0

0.01Sensor 1 Thigh

0 10 20 30 40 50 60 70 80 90 100-0.02

0

0.02Sensor 2 Calf

0 10 20 30 40 50 60 70 80 90 100-0.05

0

0.05Sensor 3 Hip

0 10 20 30 40 50 60 70 80 90 100-0.01

0

0.01Sensor 4 Foot

0 10 20 30 40 50 60 70 80 90 100-1

0

1Sensor 1 Thigh

0 10 20 30 40 50 60 70 80 90 100-1

0

1Sensor 2 Calf

0 10 20 30 40 50 60 70 80 90 100-1

0

1Sensor 3 Hip

0 10 20 30 40 50 60 70 80 90 100-1

0

1Sensor 4 Foot

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Gait Data

0 200 400 600 800 1000 1200-0.5

0

0.5Sensor 1 Thigh

0 200 400 600 800 1000 1200-1

-0.5

0

0.5Sensor 2 Calf

0 200 400 600 800 1000 1200-0.2

0

0.2Sensor 3 Hip

0 200 400 600 800 1000 1200-1

0

1Sensor 4 Foot

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Gait Cycle

Cycle starts with heel contact

0 5 10 15 20 25-0.5

0

0.5Thigh Sensor

0 5 10 15 20 25-1

-0.5

0

0.5Calf Sensor

0 5 10 15 20 25-1

0

1Foot Sensor

0 5 10 15 20 25-0.1

0

0.1Hip Sensor

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Ankle Angle

Scale: 70º-95º

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Knee Angle

Scale: 130º-180º

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Hip Angle

Scale: -1º-3º

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Simulated Stroke Walking Pattern

0 5 10 15 20 25 30-0.4

-0.2

0

0.2

0.4Thigh Sensor

0 5 10 15 20 25 30-0.4

-0.2

0

0.2

0.4Calf Sensor

0 5 10 15 20 25 30-0.1

-0.05

0

0.05

0.1Hip Sensor

0 5 10 15 20 25 30-0.4

-0.2

0

0.2

0.4Foot Sensor

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Knee Angle Comparison

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Conclusion

Motion Tracking System was completed

Design had to be revised Angular Speed presented to user Improvements

Pattern Recognition Algorithm Faster Sampling Rate Two-Leg System

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Questions?

Thank you for attending