P10007: Mechanical Spine Platform

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Block Diagrams

System-level Block Diagram

System-level Block Diagram

Set Based Concurrent Scope

Project Scope with Organized Needs
Base Plan Motivated Aggressive
Must be adjustable length-wise - each segment to mimic length of human spine Should be able to fit the 5th percentile female to the 95th percentile male
Must be easy to use
Must be easy to adjust
Must move in three (3) planes
Lockable movements for measuring process
Measurable movements - no force measurement required
Easily communicate with user - Read measurements from sensors manually Output all measurement to a computerized spreadsheet
No infrared (light reflection) interference - non light reflective No electromagnetic interference
Must be movable in two distinct sections (lower lumber and upper lumbar) with a fixed pelvis Must be movable in three distinct sections (lower lumbar, upper lumbar, and thoracic) with a fixed pelvis
Spaces needed for sensor attachment
Ability to use electrical measuring technology (digital)
Must be robust Modular design Lightweight design
Must be durable Easily repairable
Easy to read measurements
Stand on its own
Small tolerance of error in angle measurement - precision: 1/10 (0.1) degrees
Minimum of twenty (20) degrees movement at each joint
Each section must work and measure relative to section below it
Bottom-up movement (Inverse pendulum effect)
Test Nazareth's motion capture system Test multiple motion capture systems
Device has a mechanical "normal" position
Needs to stand at a height representative of a human being
Used in one location Portable - collapsible for storage purposes
Upright (vertical) orientation Multiple orientations
Adjustability is discrete Adjustability is continuous

External Benchmarking/Research

Update the table below with sources that may be interesting to use ideas from so that all info is centrally located.

Mechanical - External Sources of Information
Description of Information URL / Location of Source
P09029 - Robotic Hand project with similar joints https://edge.rit.edu/content/P09029/public/Home
McMaster Carr-Inline Ball Joints (and many other useful parts) http://www.mcmaster.com/#catalog/115/1175/=3vuhf3
McMaster Carr-QR Locking Collar http://www.mcmaster.com/#1511k22/=3vuxkh
Argyle Telescoping Tube http://www.argylein.com/telescoping_tubing.html
T-Track http://www.ttrackusa.com/
Dremel Locking Ball Joint Concept http://tiny.cc/JO7C8
Joint and tripod concepts http://www.harrysproshop.com/Tripods/Manfrotto_Articulating_Arms/manfrotto_articulating_arms.htm
Homemade Ball Joint Concept http://tiny.cc/VJZsB
Electrical - External Sources of Information
Description of Information URL / Location of Source
360o Blade Rotary Sensor http://www.gillsensors.co.uk/content/rotary.htm
Digital Tilt Sensor
  • 3-Axis Digital Acceleration Output
Inclination Sensor with Analog Output
  • Measurement range +/-180o for one axis, +/-60o for two axes.
MEMS Tiltmeter and Tiltlogger
  • Measurement range +/-15o and very accurate
  • Logger can store over 35,000 data points
Tilt Sensor Manufacturers http://www.sensorsportal.com/HTML/SENSORS/Tilt_Sens_Manuf.htm
USB Data Acquisition Modules http://www.datatranslation.com/products/dataacquisition/usb/default.asp
  • Inclinometer with communication ports and interface converter
  • Programs download
  • Measurements can be saved to log file
* http://www.ntt.dk/ng360.htm
Sample Project Using Tilt Sensor
  • Simple circuit design using tilt sensor
  • Program file
Electrolytic Tilt Sensor
  • How sensor works
  • How tilt angle is calculated
  • Proper calibration and filter
* http://www.sensorsmag.com/articles/0500/120/main.shtml
Interface and Output - External Sources of Information
Description of Information URL / Location of Source
Build a LabVIEW interface to collect and organize data for each sensor
  • Easily available at RIT
  • May not be easily available for Nazareth
Use a Bluetooth Data Acquisition Device to collect data from sensors
  • Wireless to both sensors and outputting computer
  • Would require all sensors to be bluetooth capable, which may run up costs
ExceLinx Software to collect and organize data in Excel
  • Uses standard MS Excel, just an add-on
  • No additional programming required, uses templates to input data from hardware
  • Download from internet (Free)
  • Might only work with Keithley Devices
USB DAQ module
  • Analog and Digital I/O interface
  • Powered by USB port
  • 4 analog inputs
  • 2 channels of 10-bit analog output
  • 16 bits of digital I/O
* http://measurement-computing.amazonwebstore.com/USB-Data-Acquisition-Module/M/B001ELNDQM.htm?traffic_src=froogle&utm_medium=organic&utm_source=froogle
  • Non-Data parsing and data parsing options
  • Compatible with RS-232, RS422, and RS485 devices
  • Digital and RS-232 gauge compliant
  • Transfers data to excel
  • Uses Serial and USB(with adaptor) computer ports
* http://www.microridge.com/wedgelink_sw.htm
  • Connects 4 digital gages or RS-232 devices(input)
  • Connects to USB port or RS-232(output)
  • Standard configuration to gageway5 network
* http://microridge.com/gageway_series.htm

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Brainstorming Concepts Ideas/Sketches

Concept Generation Sketches
General Horizontal Width Adjustment Joints Sketches

Concepts Defined

Concepts - Mechanical
Concept Name Description Sketch
Threaded Linear Adjustment
  • Allows for small adjustments continually
  • Needs to include rotation which may interfere with sensors
  • Easily available and fabricated
  • Vertical and Horizontal
Discrete Peg Adjustment
  • Allow for repeatable adjustability
  • Easily fabricated
  • Low cost
  • Limits adjustability to discrete steps
Slot/Slide Adjustment
  • Allow for repeatable adjustability
  • Allows for continuous adjustment
  • Easily fabricated
  • Horizontal and Vertical
Folding Side Panel
  • Horizontal adjustability of sensors is accomplished by actuating side panels
  • Limits range
  • Adds another level of complicity
  • Must be fabricated
public/Folding Side Panel.png
Rack and Pinion Adjustment
  • Turning the center knob would allow for adjustability in both directions in an equidistant manner
  • Could be purchased or fabricated
  • May add bulk to spine segment
Telescoping Adjustment
  • Telescoping provides continuous adjustment
  • Relies on friction to stay static
  • May wear out after repeated use
  • Horizontal, Vertical, or Stand
Velcro Adjustment
  • Allows for easy adjustable movements
  • Provides no repeatability
  • Little strength
  • Not accurate
  • Very little cost
public/Velcro Adjustment.png
Tripod Stand
  • Allows for 360 degree rotation
  • Vertical adjustment satisfied by leg adjustability
  • Standardized attachment method for all camera tripods
  • Easily purchasable
  • Can be modified through fabrication
  • May not have weight capacity needed, difficult to find strong
public/Tripod Stand.png
Four Legged Stand
  • Provides many options for design
  • Provides a stronger base in a smaller area
  • Legs can be made to be adjustable
  • No standardized stand, most likely need to fabricate
  • Rotisserie style stand would allow for rotation at the stand level
public/4 Legged Stand.png
  • Allow for easy transport, minimizing risk of carrying
  • Rotation requirement can be satisfied, but no way to measure without adding additional sensor
  • Must be lockable
  • Easily purchased for low cost
Chair Base Stand
  • Use the idea from a simple office or barber chair
  • Pneumatic adjustment
  • Provides stable platform for rotation
  • No standardized attachment like a tripod
  • Not collapsible for storage
public/Chair Base.png
Split Ball Joint
  • Can provide movement in all 3 planes of motion
  • Lockable
  • Easily purchased
  • Mimics human joint
public/Ball Joint.png
Universal Joint
  • Provides motion in all 3 planes
  • Not easily lockable
  • Provides no rotation, must be added
  • Easily purchased
public/U Joint.png
Threaded Compression Lock
  • Can be used in conjunction with other ideas for lockable movements
  • Will not release on its own
  • Must provide enough space for user to tighten
  • Can be easily fabricated
  • Not a quick adjustment
Tension Lock
  • Collar is slid down over piece to tighten
  • Quick adjustment
  • May loosen during use
  • Depends on user's strength
public/Tension Lock.png
Joint Zero Position Lock Clamp
  • Wrap around the joint in order to "zero" out the joint
  • Will work for all three planes if a pin can be used to zero rotation
  • Simple, easy to build
Concepts - Electrical
Concept Name Description Sketch
Rotational Inductor
  • Measures rotational displacement between sensors
  • Needs to be below joint to measure x-plane rotation at each joint
  • Small size
  • Can be pricey depending on which one selected
2-Axis Tilt Sensor
  • Simultaneously measures tilt displacement in two planes
  • Needs to work in conjunction with Multi channel DAQ
  • Can be pricey depending on which one selected
  • Size may become an issue; may not be able to measure smallest value in linear adjustability
public/2-Axis Tilt Sensor.png
  • Simplest and cheapest idea for measuring adjustability
  • Can work for both horizontal and vertical
  • May not present resolution needed
Displacement Sensor
  • Measure linear displacement using sensors
  • Can be added in conjunction with tilt sensors
  • Added programming
  • Added space need to sensor placement
Pen and Paper - DAQ
  • User will look at each measuring sensor and collect each value in a log book
  • Not digital - cannot be outputted to a computer
  • Cheapest DAQ option
  • Most time intensive for user
Multi Channel - DAQ
  • Can interpret multiple sensor inputs simultaneously and output to a computer
  • Pricey
  • Collects all data needed for user with little action required by user
  • May need to programmed; many come with software
Digital Display - Output
  • Measurement values will be outputted to a digital readout that is not a computer
  • Readout will be independent of a computer source
  • Collects and centralizes all values for user
  • User must manually record values into computer program
MS Excel - Output
  • Values will be translated to a spreadsheet format
  • Additional programming will be required to format and compute angle values
  • Cheap and widely available
ExceLinx - Output
  • Downloadable program that works in conjunction with DAQ to read sensor output
  • May only work with specific brand of DAQ
  • May be outdated
LabVIEW - Output
  • Use a LabVIEW front panel to output values to user with no extra programming or computation by user
  • Without a reader, entire LabVIEW package must be purchased
  • Easy to program for team
WedgeLink - Output
  • Add-on to spreadsheet tool that comes pre-installed with application to read sensor output from a DAQ
  • Downloadable online for free