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Propulsiometer Instrumented Wheelchair Wheel. Prepared by: Seri Mustaza (BME) Siti Nor Wahida Fauzi (BME) Ahmad Shahir Ismail (EECE) Hafizul Anwar Raduan (CompE) Advisor: Dr. W Mark Richter (PhD, Director of Research and Development, MAXmobility). MAXmobility.

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Propulsiometer instrumented wheelchair wheel

Propulsiometer Instrumented Wheelchair Wheel

Prepared by:

Seri Mustaza (BME)

Siti Nor Wahida Fauzi (BME)

Ahmad Shahir Ismail (EECE)

Hafizul Anwar Raduan (CompE)

Advisor:

Dr. W Mark Richter (PhD, Director of Research and Development, MAXmobility)


Maxmobility
MAXmobility

  • Accessible wheelchair treadmill

  • Basically, working with ergonomic wheelchair:

    • Propulsiometer instrumented wheelchair wheel

    • Transfer friendly wheelchair

    • Variable Compliance Hand-Rim Prototype (VCHP)

    • Effective ways to propel the wheel


Propulsiometer
Propulsiometer

  • To access the load applied by manual wheelchair user.

  • Consist of DAQ, load cell, wireless transmitter, battery, DC/DC converter, sensor.

  • Located on tubular hoop that can be mounted on different sizes of wheelchair’s wheel.

  • Mainly use as research tool in lab. Ex: Calculating metabolic rate



Propulsiometer2
Propulsiometer

Battery

Viasat MiniDAT™

Sensor

DC/DC Converter

Load Cell


Data collected
Data Collected

  • Angle vs. time

  • Torque vs. time

    • Tx

    • Ty

    • Tz

  • Force vs. time:

    • Fx

    • Fy

    • Fz


Force, Torque, & Wheel Angle

Data collected from propulsiometer to the PC


Load cell signals
Load Cell signals

  • Each of the 6 signals ranges from -5 V to +5 V

  • 12 bit A/D converter

  • Resolution = range/# of states (10/4096)

  • For each step size, would equals to 2.4412mV.


Minidat
MiniDAT™

  • MiniDAT™

    • 16-bit resolution

    • 16 single ended or 8 differential analog inputs

    • 8 digital I/O lines

    • IEEE 802.11 wireless LAN

    • Uses 15V DC voltage

    • 7.9 x 4.2 x 1.42 inches (LWH)

    • Weight = 1.5lb

    • Cost = $4,625.00


Problem
Problem

  • MiniDAT is no longer available

  • Bulky

  • Uses too much power

  • Cost = $4,625.00

  • Have to wait about 20 minutes to reboot


Main goal
Main GOAL

  • Replacing MiniDAT™


Specific goals
Specific Goals

  • Size: 4 x 4 x 0.5 inches (LWH)

  • Weight: ~0.25lb

  • Cost: less than $1000.00

  • Low power consumption


Target specification
Target Specification

  • 7 analog channels and 1 digital channel

  • A/D with 12 bit resolution

  • 1 quadrature encoder input

  • Wireless capability

  • Sampling rate of at least 10 kHz

  • Accepts voltage signal of -5/+5 volts

  • Power consumption ~5 watts

  • Small and compact



Components a d converter
Components(A/D converter)

  • MAX186

    • 8 channel single-ended

    • 12-bit resolution

    • Input range: 5V

    • Sampling rate of 133kHz

    • Operates at 5V


Components multichannel rs232 drivers receivers
Components(Multichannel RS232 Drivers/Receivers)

  • MAX220

    • Chip that made it possible to connect RS232 and MAX186

    • Data rate =120 kbps

    • Operates at 5V


Components 5v programmable voltage regulator
Components(5V/Programmable Voltage Regulator)

  • MAX666

    • Dual mode operation: Fixed +5V or Adjustable +1.3V to +16V

    • Regulates the power supply to provide specific voltage to components in the circuit

    • Operating range +2V to +16.5V


Components quadrature decoder
Components(Quadrature Decoder)

  • US Digital EDAC2

    • Converts incremental encoder into analog position sensor

    • 12-bit analog resolution

    • Output range: 10V

    • Operates at 12V


Components wireless serial adapter
Components(Wireless Serial Adapter)

  • Socket Cordless Serial Adapter (CSA)

    • Uses RS232 (Serial Port)

    • Has a class 2 Bluetooth

    • Range up to 10m

    • Simple plug, install, and play


If all else fails
If all else fails…

  • Current solution is the most optimum (cost, size, etc)

  • There is slight chance that it would not work

  • So, we formed a backup plan


The backup plan
The backup plan

  • Consists of two pre-packaged components and one software package:

    • Sensoray Model 526

    • Airborne Embedded Wireless Bridge, Ethernet to Wireless LAN (Module)

    • xPC Target 2.9


Sensoray model 526
Sensoray Model 526

  • PC/104 Multifunctional I/O board

  • Four 24-bit quadrature encoder inputs

  • Eight 16-bits analog inputs

  • Approximately 4’’x4’’


Airborne ethernet to wireless
Airborne Ethernet to Wireless

  • Add wireless LAN connectivity to Model 526

  • IEEE 802.11b compliant

  • Very small footprint, less than 2’’x2’’


Xpc target 2 9 from mathworks
xPC Target 2.9 from Mathworks

  • Provides high-performance, host-target prototyping environment

  • Makes it easier to program Model 526


Current status
Current Status

  • Finalizing the components needed for current solution

  • Buying the components

  • Building the solution


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