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 remotely 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 control interface to robotic arm
 Be wired to the robotic arm
 For this application, the Wanderlink Glove will:
 Provide pressure simulation for the hand and fingers
 Monitor three-dimensional motion of the glove and its fingers
 Provide a portable, rechargeable power source
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)
 4 depressible buttons (Power, Confirm, Deny, Next) for controlling the
glove
 A low bandwidth swappable RF TX/RX unit for communicating with
robotic arm(s)
 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
 Battery analysis
 Circuit comparisons
 Conclusions
4

5. Low bandwidth swappable RF TX/RX
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 (<3lb)
 Long-life swappable/portable battery unit (lasts 3 hours –
continuous usage)
 Functional
 Realistic movement tracking system (6 axis)
 Low 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 confirm/deny/next buttons
 Outputs data to low BW TX unit to robotic
arm
 Robotic arm moves accordingly
 Presses “Power” button again  Powers off glove electronics
7

8. Attached to glove:
Low bandwidth
Small, lightweight, portable
swappable RF TX unit
battery
On cuff of glove:
4 depressible buttons (Power,
Swappable, upgradeable and
reprogrammable External devices
Confirm, Deny, Next) for
controlling the glove CPU/controller Computer
Robotic arm
Major IC Characteristics
Fast Switching
Minimum Power Usage
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 3 hours Polymer) technology or the like
minimum. Must provide 1.8V 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 500ms
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 low speed Minimum 2 MHz signals
low speed, low bandwidth, (MHz), low bandwidth , RX/TX unit
RX/TX unit for sending signal information to
robotic arm
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.  Setup: testing will proceed in a controlled laboratory
environment at room temperature
 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 use driver software for the glove and robotic arm
 Measurement:
 All systems will be measured against specifications expected values
 A glove and robotic arm will be tested to ensure both function
properly
11

12.  Pass/Fail Criteria
Item Verifications Fail Pass
Portable power Battery unit lasts for 3 hours while in continuous use <3hrs >3hrs
supply powering all electronic devices.
Portable power Battery unit is fully rechargeable (for three cycles of <99.9% =>99.9%
supply 3 hr testing) Capacity Capacity
Power supply Power supply delivers 1.81 – 1.79V for full 3 Hours of <3.59V 1.81-1.79V
output 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 Driver software is used to sync up the glove’s chip Software Software
with the robotic arm. doesn’t sync syncs glove.
glove.
12

13.  Pass/Fail Criteria
Item Verifications Fail Pass
Electro-mini- Test all electro-mini-pressure bubbles throughout Bubbles do not Bubbles
pressure bubbles for the glove for complex simulations and interactions. move properly move
pressure simulation properly
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)
Calibration Glove will be positioned the same as the robotic Arm Arm
arm’s rest position to calibrate the glove. This will movements movements
allow the robotic arm to move accurately and aren’t the same are the same
accordingly. as glove as glove
movements. movements.
Low-speed TX/RX TX/RX Unit needs to operate at a minimum of Does not TX at TX at 2
unit 2Mbits/sec. 2 Mbits/sec Mbits/sec
Accurate TX/RX unit TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6
13

14.  The battery pack will be wired to the glove
and attached to the user’s forearm
 The battery chosen is a 6 cell C 4000 H nickel
metal hydride
 Battery pack is rechargeable
 Should provide enough power to work the
glove for 3 hours
14

15.  Capacity (mAh): 4000
 Weight: 1.1 lbs
 Dia: 25.5 mm per cell
 Height: 49.5 mm per cell
15

16. Glove Critical Characteristics:
 Must Perform Inversion for Logic Applications
 Power Usage: Supplied: (200 mA @ 9V) for Three
hours
 Step Down transformer to (545 mA @ 3.3V) or (1A @ 1.8V)
 Glove will Require >500000 devices
 Noise Immunity: NMH => 250mV , NML => 250mV
 Speed: 100-200 Hz For Glove Electronics
 Operating Temperatures: 10 ºC to 45 ºC
16

17. If Provided 545mA @ 3.3V Each IC
For Min 500000 Devices
ICs Must Operate < Approx 1uW
If Provided 1A @ 1.8V Each IC
For Min 500000 Devices
ICs Must Operate < Approx 2uW
1st Place: BiCMOS Gated Diode
2nd Place: CMOS
NMH => 250mV
NML => 250mV
1st Place: CMOS
2nd Place: Emitter Follower
Common Emitter has 180º Phase Shift
And Will Not Work For Logic Functions

18. Speed: 100-200 Hz For Glove
Electronics
1st Place: BiCMOS Gated Diode
2nd Place: BiCMOS Emitter Follower
Common Emitter has 180º Phase Shift
And Will Not Work For Logic Functions

19. Gated Diode Has High Output
Impedance
• Need to Compare Fanout
Common Emitter has 180º Phase Shift
And Will Not Work For Logic Functions

24. 3.3V Power Supply Without 2nd Order Effects 1.8V Power Supply Without 2nd Order Effects
Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u
CMOS: 11pW off, 3.1mW Switching CMOS: 3pW off, 316uW Switching
Gated Diode: 96pW off, 9.66mW Switching Gated Diode: 513pW off, 5.5nW Switching
24

25. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u
CMOS: 11W off, 3mW Switching CMOS: 3.25pW off, 311uW Switching
Gated Diode: 2.15nW off, 8.4mW Switching Gated Diode: 494pW off, 3nW Switching
25

26. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u
CMOS: 11pW off, 3.2mW Switching CMOS: 3.25pW off, 307uW Switching
Gated Diode: 2nW off, 5mW Switching Gated Diode: 20pW off, 436pW Switching
26

27. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u
CMOS: 11W off, 2.9mW Switching CMOS: 3.5pW off, 321uW Switching
Gated Diode: ?W off, ?W Switching Gated Diode: 647pW off, 69nW Switching
27

28. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u
CMOS Best NMH and NML CMOS Best NMH and NML
28

29. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u
29

30. 30

31. 31

32. 32

33. Reasoning For Selection!
 Performs Inversion for Logic Applications
 Lowest Power Usage
 Sufficient Noise Immunity
 NMH > 250mV , NML > 250mV
 Speed: Will Fulfill 100-200 Hz Spec. and is still
usable in 100KHz range.
 Operating Temperatures: 10 ºC to 45 ºC Verified
33

34.  The Wanderlink Glove will allow a working
professional to control a robotic arm
 The robotic arm is working in a hazardous
environment while the user is in a safe environment
 Once the glove is synchronized with the arm, the
arm will mimic the gloves movements
34

35. 35

36. 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
36