1. Dan Wehnes, Loren Schwappach, Tom Thede
Wanderlink
EE660: Modern Solid State Devices
17 November 2011 1

2.  Engineer an innovative, portable, light-weight, ergonomic
glove-like human interface device to remote control a robotic
arm to function in a hazardous environment such as:
 Steel mill
 Nuclear power plant
 The Wanderlink Glove will initially:
 Provide simple manual controls
 Provide a portable, rechargeable power source
 Be able to communicate using RF with other electronic devices
 Provide pressure simulation for the hand and fingers
 For this application, the Wanderlink Glove will:
 Provide touch points at multiple locations throughout the glove
 Monitor three-dimensional motion of the glove and its fingers
2

3.  The Wanderlink Glove will be able to and contain:
 Electro-mini-pressure bubbles for pressure simulation
 Monitor finger position/bending
 Monitor realistic motion with 6 degrees of tracking
(X, Y, Z, Yaw, Pitch, and Roll)
 12 durable, programmable, user-adjustable, sensing, touch points
 4 depressible buttons (Power, Confirm, Deny, Next) for controlling the
glove
 A high bandwidth swappable RF TX/RX unit for communicating with
computers and other electronic devices
 Swappable and reprogrammable CPU/controller
 Separate rechargeable battery unit to power the glove
3

4. Wanderlink Glove
 Initial Design Concept
 General Requirements
 Operation (What is Expected)
▪ Black Box Diagram
 Specifications / Expected Values
 Logic Gate Critical Characteristics
 Acceptance Plan
 Conclusions
4

5. Programmable, user- High bandwidth swappable RF TX/RX
adjustable, sensing touch points unit
Throughout the glove:
Electro-mini-pressure bubbles to
simulate pressure
On cuff of glove:
4 depressible buttons
(Power, Confirm, Deny, Next) for
Swappable, upgradeable and
controlling the glove
reprogrammable CPU/controller
Attached to glove externally: Inside of glove:
Small, lightweight, portable 6-axis realistic motion detection
rechargeable battery device
5

6.  Safe
 Temperature sensing / automatic shut off
 Portable
 Light weight (<1lb)
 Long-life swappable/portable battery unit (lasts 8 hours –
continuous usage)
 Functional
 Realistic movement tracking system (6 axis)
 Easily accessed touch/sensor points
 High speed TX/RX unit
 Flexible, breathable, comfortable
 Adaptable
 Swappable, upgradable, programmable CPU/control module
 Swappable, upgradeable TX/RX unit
 Reliable
 Heat/fire resistant
 Electronic electrostatic protection
 Durable
6

7. Conditions (User): Conditions (the CPU/controller module):
 Programs CPU/controller module  Takes in program updates
 Puts on glove
 Presses “power” button inward (battery is  Powers up / initializes / checks calibration
charged)  Turns on/checks all glove electronics
 Checks for external device signals
 Shows User Battery Remaining
 User calibrates glove and synchronizes it with  Audio signal indicates the glove has been
the robotic arm calibrated
 Receives instructions, relays chosen choices  Begins robotic arm control
to CPU using confirm/deny/next buttons
 Uses glove as required  Receives signals from glove electronics
 Checks user sensing touch points (Every
500ms)
 Checks confirm/deny/next buttons
 Outputs data to high BW TX unit (external
devices)
 Robotic arm moves accordingly
 Presses “Power” button again  Powers off glove electronics
7

8. Attached to glove:
High bandwidth
Small, lightweight, portable
swappable RF TX/RX unit
battery
Audio out TX unit
On cuff of glove:
4 depressible buttons
Swappable, upgradeable and
reprogrammable External devices
(Power, Confirm, Deny, Next) for
controlling the glove CPU/controller Computer
Robotic arm
Major IC Characteristics
Programmable, user- Fast Switching
Minimum Power Usage
adjustable, sensing touch
points
Throughout the glove:
Electro-mini-pressure
bubbles
Calibration signal
Inside of glove:
6-axis realistic motion
detection device
8

9.  Functional Requirements
Requirement Description Expected Values
Lightweight portable power Glove shall have a lightweight rechargeable, Expected to be made of
supply swappable, portable battery supply capable of rechargeable Li-Poly (Lithium-
powering the glove electronics for 8 hours Polymer) technology or the like
minimum. Must provide 3.6V and a minimum since it is rechargeable with a
of 185 Wh/Kg. power density of around185
Wh/Kg.
Realistic movement tracking Shall have a system for monitoring realistic Should result in accurate data In
system motion with 6 degrees of tracking (X, Y, Z, Yaw, accordance with user hand
Pitch, and Roll) movement. 6 (8 bit outputs) to
CPU every 100ms
Temperature sensing Shall have a temperature sensor that reports 6 bit output to CPU every 500ms.
data to the CPU/Control. (6 bits/500ms)
Driver software Software is used to program the CPU to Software synchronizes glove
synchronize the glove with an the robotic arm with arm
9

10.  Functional Requirements (Continued)
Requirement Description Expected Values
Swappable, upgradeable, Glove shall contain a high speed Minimum 2 GHz signals
high speed, high bandwidth, (GHz), high bandwidth , RX/TX unit
RX/TX unit for sending video and signal
information to external devices.
Electro-mini-pressure Based on feedback from the robotic CPU receives TX from the robotic
bubbles for fingertip arm, 35 bubbles move accordingly to arm and moves the bubbles
pressure simulation simulate pressure accordingly
Total glove weight Glove w/ power supply shall weigh no Max 3lb
more than 3lb
Three standard sizes Glove shall come in three standard Must satisfy 95% of working
sizes professionals
Synchronization Glove must be able to calibrate with Audio signal lets the user know if
the robotic arm so that the arm can calibration was successful, then the
move accordingly robotic arm moves accordingly
10

11. Importance from Greatest to Least
 Performance:
 Clock Speed: Fast Digital Switching Speed (Necessary to Handle
a Min. 2GHz Clock), Clean Digital Pulses with Optimal TR, TF
,PDHL, PDLH
 Minimum Power: Utilization (Must be < 2uA per gate) =
1A/500000 devices.
 Small Size
 High Noise Immunity
 Reliability:
 Resistance to Electrostatic Discharge
 Durability
11

12.  Setup: Testing will Proceed in a Controlled Laboratory
Environment at Room Temperature Then in More Extreme
Conditions
 Product Specifications will be tested to ensure glove meets all minimum
functional, interface, performance, and qualification requirements.
 CPU/Control unit will be programmed by a computer using the USB port
to run:
▪ VR Glove Program
▪ OCR Detection Program
▪ Capability to TX live video & Glove Control Outputs to Computer
 Measurement:
 All Systems will be Measured against Specifications Expected Values
 A Virtual System Will Be Designed With Projected Results
 The Glove Will be Tested Against These Results
12

13.  Pass/Fail Criteria
Item Verifications Fail Pass
Portable Power Battery Unit Lasts for 4 Hours while in Continuous <4hrs >4hrs
Supply Use Powering all Electronic Devices.
Portable Power Battery Unit is Fully Rechargeable (For Three Cycles <99.9% =>99.9%
Supply of 4 Hr. Testing) Capacity Capacity
Power Supply Power Supply Delivers 3.61 – 3.59V for Full 4 Hours <3.59V 3.61-3.59V
Output of Use.
Temperature Unit will be Tested to Ensure System Powers Off Does not power Safely Powers
Sensing Unit When Temperatures are at or above 100°F off. Off.
Conditions:
• Power to all electronics
• Glove Being Used
Driver Software Interface comes with driver software to sync up the Software Software
glove’s chip with the interface. doesn’t sync syncs glove.
glove.
13

14.  Pass/Fail Criteria
Item Verifications Fail Pass
Electro-Mini- Test all electro-mini-pressure bubbles throughout Bubbles do not Bubbles
Pressure Bubbles the glove for complex simulations and interactions. move properly move
for Texture properly
Simulation
Realistic Movement Realistic Motion accurately emulates (within 3°) 6 >3° of Error <=3° of Error
Tracking System areas of tracking (X, Y, Z, Yaw, Pitch, and Roll)
Touch/Sensor All 12 Touch/Sensor Points are Map- Fails to Meet Meets
Points able/Programmable, and User-Adjustable.
Points must be Win7 or later compliant HID buttons.
Finger-Tip Touch Points should also be able to detect
user Heart Rate.
High-speed TX/RX TX/RX Unit needs to operate at a minimum of Does not TX at TX at 250
Unit. 250Mbits/sec. 250 Mbits/sec Mbits/sec
Accurate TX/RX TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6
Unit.
14

15.  Meets requirements for Text to Braille System with Addition
Functionality for Other External Applications:
 VR Industry
 Medical Systems
 Integrating VR and Information Access
 Training Programs
 Students/Educators
 Computer Users/Gaming Industry
 Robotics
 Military
 The Wanderlink Glove HID has the potential to Redefine Human
Interaction with Tomorrow’s Technology.
15

16. 16

17. Batteries Wholesale, Capacity VS Weight. Retrieved 29 October 2011
from: http://www.batterieswholesale.com/capacity_weight.htm
HEV Vehicle Battery Types,n.d., Retrieved 13 October 2011 from ThermoAnalytics
Website:http://www.thermoanalytics.com/support/publications/batterytypesdoc.html
Cyber Glove 2. Retrieved 29 October 2011.
http://www.vrealities.com/cyber.html
P5 Virtual Reality Glove, n.d., Retrieved 13 October 2011 from:http://www.vrealities.com/P5.html
Peregrine Glove, n.d., Retrieved 13 October 2011 from:http://theperegrine.com/product/
All About Batteries for Your Project, n.d., Retrieved 13 October 2011
from:http://www.ladyada.net/library/batteries.html
Battery Life,n.d., Retrieved 13 October 2011 from Climber.org
Website:http://www.climber.org/gear/batteries.html
17