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Propulsiometer Instrumented Wheelchair Wheel

The Propulsiometer is a wheelchair wheel that measures the load applied by a manual wheelchair user. It consists of a data acquisition system, load cell, wireless transmitter, and other components. The goal is to create a smaller, lighter, and more affordable version of the current system.

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Propulsiometer Instrumented Wheelchair Wheel

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  1. 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)

  2. 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

  3. Propulsiometer • Located on tubular hoop that can be mounted on different sizes of wheelchair’s wheel. • To access the load applied by manual wheelchair user. • Consist of DAQ, load cell, wireless transmitter, battery, DC/DC converter, sensor.

  4. Propulsiometer Battery Viasat MiniDAT™ Sensor DC/DC Converter Load Cell

  5. Propulsiometer

  6. Data Collected • Angle vs. time • Torque vs. time • Tx • Ty • Tz • Force vs. time: • Fx • Fy • Fz

  7. Force, Torque, Moments & Wheel Angle Data collected from propulsiometer to the PC

  8. 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.

  9. Problem • MiniDAT is no longer available • Bulky • Use too much power • Cost = $4,625.00

  10. Specific Goals • Size: 2 x 2 x 0.5 inches (LWH) • Weight: ~0.25lb • Cost: less than $1000.00

  11. Target Specification • 6 analog channels • A/D converter with 12-bit resolution • 1 quadrature encoder input • Wireless capability • Sampling rate of at least 10 kHz • Accepts voltage signal of ±5 volts • Low power consumption (15 watts max) • Small and compact (5 x 5 inches max)

  12. 1st Approach • Sensoray Model 526 • Pros: • Meet all requirements • Built-in Linux/Windows OS • Cons: • Does not support LabVIEW • Expensive ~$1500

  13. Model 526 • Four 24-bit quadrature encoder inputs • Eight 16-bit analog ±10V differential inputs • 10kHz sampling rate • Approximately 4 x 4 inches • Single supply (5V, 5mA) input power

  14. 2nd Approach • Sheldon SI-MOD68xx • Pros: • Meet all requirements • Built-in Linux/Windows and support the LabVIEW • Cons: • Too expensive ~$2500

  15. SI-MOD68xx • Up to 64SE/32DE Analog Inputs • 16-bit resolution, ±10V • 100khz/250khz sampling • Two 32-bit quadrature inputs • 7 watts in maximum configuration • Approximately 4 x 4 inches

  16. 3rd Approach • Multi-companies • Connect the quadrature decoder, A/D converter and wireless transceiver onto one single PCB board • Pros: • Optimum functionality • Low cost • Cons: • Finding the right components

  17. Solution • 3rd approach • Decision base on: • Low cost • Flexibility in combining the components • No unnecessary functions

  18. Current status • Design the circuit • Finalize & buy the components for the circuit

  19. Components(A/D converter) • MAX186 • 8 channel single-ended • 12-bit resolution • Input range: 5V • Sampling rate of 133kHz • Operates at 5V

  20. Components(Quadrature decoder) • GEN-2122-5 • 22-bit Up/Down counter • 5V or 3.3V I/O capability • Max input speed of 10MHz • Operates at 5V

  21. Components(2.4 GHz wireless transceiver) • Nordic Semiconductor nRF2401 • Data rate up to 1MHz • Operating voltage: 3V • Built-in antenna • Size: 1.44 x 0.79 x 0.9 inches (LWH)

  22. Components(5V Voltage Regulator) • National Semiconductor LM2937 • Max input voltage: 26V • Output voltage: 5V • Current output: 10mA (max)

  23. Circuit example

  24. Work Contribution

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