Main task list for @TheProjectsGuy

[TheProjectsGuy]

Task priority: HIGH

Task description

Given the flex sensors, figure out an algorithm for finding joint angles from the stress values of the flex sensor. Pointwise needs are as follows:

• Making a full-fledged API for the Flex Sensor

Person assigned: @TheProjectsGuy

Deadline: Tuesday, 19^th March 2019 (Final submission)

Procedural steps

Step 1: Simulation

Get a simulation up and running, giving useful values as proof of concept.

• [x] MATLAB Simulink Simulation
  • [x] Find the correct values of variables to be used
• [x] Import to other versions and documentation
• [x] Shift changes to dev branch through a pull request

Step 2: Simple setup

Electrical circuitry

• [x] Make a CAD file with reference to the simulation circuit (preferably in eagle)
• [x] Build up the circuitry on a breadboard
• [x] Test with Arduino Mega

Step 3: CV

Computer vision part

We'll use LEDs to find angles. Use CV to get joint angles while simultaneously recording the flex sensor readings

• [x] Make a CAD file for the LED connections (voltage divider circuitry)
• [x] OpenCV Algorithm
  • [x] Hunt for the best algorithm that fits the purpose
  • [x] Test algorithm with LEDs arranged in a fashion through a laptop webcam
  • [x] Test on a web camera
• [x] Python script
  • [x] Arduino (Reading the flex sensor values)
  • [x] OpenCV code
  • [ ] Implement both in a class-wise fashion and use synchronized multithreading to handle both, see if output comes on console

Step 4: Algorithm

• [x] Data collection
  • [x] Store everything in a numpy database for training algorithm
• [ ] Figure out an algorithm for converting the stress values into joint angles

Step 4: Frame visualization

• [ ] Visualize frames on a visualization platform

Extras

Priority: LOW Here are some extra things that can be implemented, if time permits:

• [ ] Implementation in C++ (C++ API)
• [ ] Phone side application for
  • [ ] iOS
  • [ ] Android
• [ ] Computer side application for
  • [ ] Ubuntu
  • [ ] MacOS

[TheProjectsGuy]

⚠️ Scrap this comment ⚠️

Step 1

Simulation done, file in Flex_Sensor_final_circuitry.slx (folder here, more here)

Materials required

• [x] Flex sensor 2.2''
• [ ] Resistors
  • For instrumentation amplifier
    • [ ] 1.5 kΩ resistors (x 2)
    • [ ] 180 Ω resistors (x 2)
    • [ ] 22 kΩ resistors (x 2)
  • For the wheatstone bridge
    • [ ] 80 kΩ resistors (x 2) for the upper arms
    • [ ] 70 kΩ resistor (x 1) for the reference arm (lower resistor)
• [x] Op-Amps (x 3) for the instrumentation amplifier construction
• [ ] Breadboard and jumper wires
• [ ] Arduino and multimeter for programming and debugging

Post planned progress

CAD starts tomorrow