>> Gloves Documentation

Team: Imogen, Kelly, Tom, Seb, Rachel, Adam, Hannah

Links:

>> MiMu website
>> Dev Blog
>> Kickstarter page
>> Imogen’s Glove Page
>> Making-of x-IMU Gloves
>> Twitter
>> YouTube Videos
>> Flickr Photos
>> Seb’s Glove GitHub

The x-IMU Gloves

This first pair of customized gloves uses custom made version of the x-IMU. Each glove has one x-IMU, 8 bend sensors, an RGB LED and vibration motor.

The DIY ArduIMU Gloves

An Open Hardware pair of datagloves that capture movement and gestures of the hand using the ArduIMU and bend sensors. The gloves can be connected with an FTDI cable or wirelessly using a Bluetooth module. The gloves also include an RGB LED light and a vibration motor for visual and haptic feedback.

These gloves are made from off-the-shelf parts and documented in these step-by-step instructions.

E-Textile Gloves

This is a version of The Gloves that uses conductive and piezoresistive fabrics to capture movement and gestures of the hand in an attempt to build a fully fabric data glove.

MiMu Gloves

Three pairs of this version of the glove were produced in preparation for Imogen’s NIME performance.

Collaborator Gloves

This version of the MiMu data gloves for composing and performing electronic music are in production for a small group of collaborators who continued to support us after our Kickstarter campaign.

Excluded from BOM:

$ – tiny orange 14 and 6-way socket and plug IDC connectors from RS >> http://uk.rs-online.com/web/
$ – super flexible ribbon cable from 3M >>
$ – 5 x-IMUs, plus mother board, wireless module, battery >> http://www.x-io.co.uk/
$ – wireless radios
$ – wrist microphones

Tools for Production:

– Soldering iron, solder
– Sewing machine, needles
– Casting tools
– Snap press
– IDC crip tool

Flexpoint Flex Sensor Pricing

List of Materials and Tools

List of materials and parts used in most recent version of the gloves/suit.

Electronics
orange 6-way IDC connectors (male, cable mounted): RS: 739-1022
orange 14-way IDC connectors (male, PCB mounted): RS: 739-1110
driver ICs: RS: 526-739
high-flex ribon cable: RS: 342-8552
pull-up resistors
wire:
>> http://www.conrad-uk.com/ce/en/product/605834/Single-wire-LIFY-005-mm-red
>> http://www.conrad-uk.com/ce/en/product/605900/Single-wire-LIFY-005-mm-black-25-m

Fabrics
lycra
neoprene (2.5mm thick, HS quality, black polyester either side): http://sedochemicals.de/index2.php?sprache=de&id=anfrage
thread
netting

Flexpoint Flex Sensors

1” and 2” sensors. 1” is too short to easily align with exact position of joint, will instead work with 6 x 2” and 2 x 3” per glove.

Removing blue strain-relief and connector plastic:

Bare sensor:

Sensors facing each other, as they will be mounted on the the three middle fingers:

All are similarly flexible: Left) no overlaminate, Middle) with polyester overlaminate, Right) with polyimide overlaminate.

Fabrics, Colours

Neoprene for straps and isolating conductive thread

Conductive Fabrics and Threads

Stretch conductive fabric and conductive thread for hard-soft connections.

Super flexible wire

Instead of sewing connections with conductive thread?
Conrad >> http://www.conrad-uk.com/goto.php?artikel=605834
McMaster >> http://www.mcmaster.com/#flexible-wire/=e1sdpl

OUTPUT: RGB LEDs and White LEDs

Sparkfun wishlist >> http://www.sparkfun.com/wish_lists/31900

RGB LED SMD >> http://www.sparkfun.com/products/10866

Through-hole RBG LED >> http://www.sparkfun.com/products/10390

Tiny White Leds
Sparkfun (sewable) >> http://www.sparkfun.com/products/10753
Digikey >> http://search.digikey.com/us/en/products/LTW-150TK/160-1737-1-ND/758709

Ready-made RGB LED light strips:
>> http://www.sparkfun.com/products/11020
>> http://www.sparkfun.com/products/10259

Make our own “Luminex”
>> http://www.sparkfun.com/products/10694

LED Driver board

X-IMU connector and driver board sketch by Seb

INPUT: Bend Sensor Options

Custom length flex sensors from Flexpoint >> http://www.flexpoint.com/index.html
>> http://fkeel.blogspot.com/2011/05/flex-sensors-by-flexpoint.html

CONNECTION: Hard-Soft

X-IMU connectors and pin out by Seb

Metal snaps, 7mm diameter (poppers) >> http://www.plugandwear.com/default.asp?mod=product&cat_id=95,100&product_id=166
Clear Resin >> http://www.little-windows.com/store.php

Tiny IDC connector:
>> 14-way plug: 739-1031
>> 14-way socket: 739-1277

6-way and 14-way IDC connectors with flexible cable:

Crimp tool >> http://uk.rs-online.com/web/p/connector-tooling/2356428/

Super flexible ribbon cable from 3M >> ???

Wrist microphones
>> http://www.shure.com/americas/products/microphones/other/wl51-wireless-lavalier-microphone

Battery

Dimensions: 19x54x54mm
>> http://www.sparkfun.com/products/8484

Liquid Tape

Some flex sensors seem unevenly printed

Back protectors… are sold for motorcyclists, snowboarders, paintball…
With a wide waste band one could ideally carry most of the weight on the waist, relieving the shoulders.
>> http://www.surfdome.com/demon_body_protection_-_demon_shield_spine_guard_body_protection_-_black-57098
>> http://www.amazon.com/Demon-Snow-Shield-Spine-Guard/dp/B005W1EOFE/ref=sr_1_1?s=sporting-goods&ie=UTF8&qid=1326479867&sr=1-1
>> http://www.amazon.com/Chest-Protector-Premium-Front-Back/dp/B000GU8934/ref=sr_1_6?ie=UTF8&qid=1326209464&sr=8-6
>> http://www.amazon.com/JT-0842-03-Folding-Chest-Protector/dp/B000FGCYY4/ref=pd_sim_sg_5
>> http://www.revzilla.com/product/dainese-bap-back-protector

Have ordered the following:
>> http://www.amazon.com/gp/product/B004ALAJGK

connection standards (based on performance pair):
sensor connections (wrist x-imu):
AUX0 =
AUX1 =
AUX2 =
AUX3 =
AUX4 =
AUX5 =
AUX6 =
AUX7 =

RGB LED & motor connections (upper-arm x-imu):
AUX0 =
AUX1 =
AUX2 =
AUX3 =
AUX4 =
AUX5 =
AUX6 =
AUX7 =

Bolero Arduino connections (back x-imu):
AUX0 =
AUX1 =
AUX2 =
AUX3 =
AUX4 =
AUX5 =
AUX6 =
AUX7 =

Tools for working on the gloves:
– sewing machine
– soldering station, solder, desolder, helping hands
– iron and ironing board
– hot glue gun and glue
– snaps and tool (proper snap press)
– good light
– good fabric scissors
– wire clippers, wire strippers, flat-cable strippers
– tweezers
– glove patterns/stencils/documentation
– card-stock, paper
– geodreieck, ruler, pencil
– fabric chalk and markers
– masking tape
– files or sandpaper
– blade-less wire strippers

Materials for working on the gloves:
– fusible interfacing
– fabrics (neoprene, lycra, non-stretch fabric, mesh…)
– RGB LEDs
– high-flex ribbon cable
– vibration motors
– shoe goo
– clear resin (quick cure)
– casting supplies (measuring cups, mixing sticks…)
– liquid tape
– thread to match neoprene, lycra and other fabrics/electronics/materials
– selection of shrink tube – transparent or matching other material colours
– thin, flexible wire

Backup pair:

Rehearsal pair:

Performance pair:

Shiny sensor stripes on matt top, with shiny palm:

Shiny on shiny, with shiny palm (too much shiny):

Prototypes:

Obergine lycra on lycra:

Netting on netting:

Netting on lycra:

Casting silicone around the fabric edges of fingertips:

Glove without bend sensors

Flexpoint Bend Sensors

Sensor preparation:

Inside/outside:

In-between finger sensor:

Glove pattern:

Neoprene part of glove:

LED Wire Connections

Tweed Lights

Mic Pouch

Shapelock mic holders with male snaps for fastening to gloves wristband:

x-IMU Powermesh Pouch

Upper Armbands

Harness

Imogen’s Bolero (video by Tom Mitchell)

Oh My Bolero (by Imogen Heap)

Imogen And Her Bolero

On the moon, at the Counter cafe in Hackney Wick:

All dressed up:

>> http://productionadvice.co.uk/me-the-machine/

On stage:

The bikes:

Jennie on stage:

Celebrating after the performance:

Behind the scenes:

In the other tent:

Testing the wireless:

Mounting the wireless:

Late night fixes:

Fitting the jumpsuit and bolero:

Close-ups:

Working at Kelly’s:

Aurora’s dinner:

Bolero:

Videos of the Bikes

Arduino code for bolero >> https://github.com/plusea/CODE/tree/master/PROJECT%20CODE/Gloves/Bolero

Final Result

Dubstep Music by XXX

Extreme Programming:

Extreme Programming LedActivityCountDown (for Dubstep Bolero)

Tom and Seb showcase their professional programming skills.

12 Minutes of Extreme Programming (the Dubstep Bolero)

Seb dictates the UpdateLedActivityCountDown() function to Tom, but “mucks up”. They then encounter “The Hideous One”.

Learning Arduino And Fighting Over Who Gets To Program (the Dubstep Bolero)

Discussing PWM and LED Brightness (of Dubstep Bolero)

Hello I’m an LED Controller (Dubstep Bolero)

While pizza boxes burn in the fireplace Tom and Seb test the results of their programming, “Hello, hello I’m an LED controller…”.

Bolero Programming

More Bolero Programming

Adam and Kelly Talking Spectral Centroids

Overview >> https://catalog.precisionmicrodrives.com/order-parts

Current motor:

Dura Vibe >> https://catalog.precisionmicrodrives.com/order-parts/product/910-101-10mm-brushless-vibration-motor-3mm-type
Sold at Sparkfun >> http://www.sparkfun.com/products/8449

Motor covered in Sugru for mounting:

Motor contained in Shapelock for mounting and strain relief:

Another idea for strain-relief mounting:
Break-out motor contacts to be part of the motor surface, then mount in pouch that makes contact with contacts… kind of like this:

Inside view:

Vibration Motors with Exposed Weights:

Pico Vibe (11mm) >> https://catalog.precisionmicrodrives.com/order-parts/product/304-001-4mm-vibration-motor-11mm-type

Encapsulated vs. Enclosed vibration motors

Encapsulated >> http://www.precisionmicrodrives.com/vibrating-vibrator-vibration-motors
Pico Vibe (7mm) >> https://catalog.precisionmicrodrives.com/order-parts/product/306-108-7mm-vibration-motor-25mm-type
/encapsulated-vibration-motors

Enclosed >> http://www.precisionmicrodrives.com/vibrating-vibrator-vibration-motors/enclosed-vibration-motors
Uni Vibe (12mm) >> https://catalog.precisionmicrodrives.com/order-parts/product/312-100-12mm-vibration-motor-20mm-type

Linear Vibration Alternative:

>> http://www.precisionmicrodrives.com/vibrating-vibrator-vibration-motors/linear-resonant-actuator-lra-vibration-motors

PCB mounted

>> http://www.precisionmicrodrives.com/vibrating-vibrator-vibration-motors/pcb-mounted-vibration-motors

Larger/Stronger

Maybe if we don’t mount the vibration motor on the hands, we are more flexible in terms of size and can find something stronger?
Motor from inside haptic feedback game-controller:

Kelly Mounts AUX Port PCBs to Old Gloves

Photos by Kelly:

New:

Old:

x-IMU Tray

In red and transparent acrylic…

The Goal: Similar to 5DT Glove Cable

The New Hunt

Crazy wiring >>http://www.knaapo.ru/eng/about/technology/electricity.wbp

McMaster (USA):
Mcmaster sells Daburn sub-miniature wire as “Continuous-Flex Miniature Wire”:
>> http://www.mcmaster.com/#catalog/118/801/=h37uic

Conrad (EU, UK):
red >> http://www.conrad-uk.com/ce/en/product/605834/Single-wire-LIFY-005-mm-red
black >> http://www.conrad-uk.com/ce/en/product/605900/Single-wire-LIFY-005-mm-black-25-m

Daburn (USA):
Daburn >> http://www.daburn.com/2671ultraflexiblesub-miniaturewire-u/lstyle15681692.aspx

Lokolo (DE):
Textile insulation >> http://lokolo.eu/tag/textile/

The Old Hunt

McMaster >> http://www.mcmaster.com/#catalog/118/802/=h2aj67

All three ultra-flex miniature wires turned out to be very fragile, in that they were easy to tear by hand. Also the isolation of the red and white were silicone and thus would not slide nicely between the layers of fabric.

Daburn >> http://www.daburn.com/2670miniaturehook-upwire-conformstomil-w-16878d105c-600v.aspx?variation=9432
White wires used in first version. Seem to be holding up okay, but the wire is not particularly great and the insulation is not particularly flexible.

Maplins (currently used in new gloves):
? >> http://www.maplin.co.uk/silicone-extra-flexible-wire-9910

The Other Hunt> For tiny, sturdy 5-way connectors
To connect LED and motor on gloves with upper-arm x-IMU
Flat Cat5 Ethernet cable? >> http://www.vpi.us/cable-sf-shld.html

Cute illustration >> http://www.tradekorea.com/product-detail/P00135935/The_plastic_proposal_other_adhesion_characteristic_petal__easily_t.html

A sound-reactive illuminated bolero, custom made for Imogen Heap’s “Me The Machine” Performance in 2012. The circuit is sewn from antique conductive thread and surface-mount LEDs are soldered directing to the thread traces. Three Arduinos control up to 20 LEDs each, making more LEDs flash on, the louder the volume of sound. Volume is detected via an external microphone signal analyzed by software. Volume information is then forwarded to all three Arduinos at once. The Arduino themselves determine random lighting patterns dependent on incoming volume information.

Circuit

Collar circuit:

Shoulder circuit:

Solder connections:

Close up of surface mount LED lights soldered to metal military embroidery thread circuit:

With fabric:

Flash effect

Super flex ribbon cables soldered directly to 8 pins of Arduino. Cables lead to the lower back of Bolero where they all join on a common board, that connects them to power (LiPo battery) and the 14-way connection from the back x-IMU.

Common board:

Videos of decorative lights

Bolero Code

The code running on the 3 Arduino that are mounted on the Bolero takes 4 digital inputs from the back x-IMU and translates these to leves of LED activity.

Code repository >> https://github.com/plusea/CODE/tree/master/PROJECT%20CODE/Gloves

Video of bolero reacting to Imogen:
Link >> http://youtu.be/Fw38cZNos00

Video of Bolero reacting to music:
Link >> http://youtu.be/FGx_fRWhqb0

Rachel’s Studio

Backhub Layout

Fabric Selection

Firday Dinner

Sensor Seb’s Sensors

Fabric Shopping

Shapelock Mic Holder

x-IMU Neoprene Tray with Powermesh Cover

RGB LED and vibration motor driver board mod

Because of the pin-out of the SMD RGB LED we are using (MODEL NO: 5060BRG4 datasheet), i think it makes sense to choose the following AUX port connections:
Green = Aux0
Red = Aux2
Blue = Aux4
Motor = Aux6

Because of the 100mA current limit of the x-IMU:
– Light flickers when motor is on full power
– And white turns pink when motor is on full power

Photos of temporary mod to driver circuit for Wednesday deadline:

Sketches of driver circuit mod and future tapered PCB design with SMD mounted IDC connector:

Video of testing (with mistake) >> http://youtu.be/-nMOJq1F4bA
Video of it working (coming soon) >>

Internal Pull-up Resistors on x-IMU????

Plan is for Seb to figure out either:
– Use internal pullups and scrap extra circuitry
– Seb designs inline pull-up PCB with SMD mounted IDC connector

Low-profile surface-mount resistors for in-line circuit:
SMD 0805 50K Ohm resistors >> http://uk.rs-online.com/web/p/surface-mount-fixed/6620613/

In-between Finger Sensor

Modifying design to move one bend sensor from ring finger to between ring and middle finger, to measure the distance between them.

Altarnative to bend sensor: use Hall Effect Sensor for measuring distance between fingers?
DigiKey (USA) >> http://search.digikey.com/us/en/products/A1324LLHLT-T/620-1402-1-ND/2639992
RS (UK) >> http://uk.rs-online.com/web/p/hall-effect-sensor/6807116/
Datasheet >> http://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=3&ved=0CDYQFjAC&url=http%3A%2F%2Fwww.allegromicro.com%2F~%2FMedia%2FFiles%2FDatasheets%2FA1324-5-6-Datasheet.ashx&ei=sjHmTqakAs2EtgesnLzLBA&usg=AFQjCNFWwFzT6UbN3t3lr5pI_YSy7vlGyw
Magnets >> http://www.kjmagnetics.com/categories.asp

Decorative LED Circuitry

PARTS:
LED Lights:
White 1206 SMD LEDs
Digikey >> http://search.digikey.com/us/en/products/LTW-150TK/160-1737-1-ND/758709
RS >> http://uk.rs-online.com/web/p/products/7031187/

Control (microcontroller):
ATtiny85 (5 i/o pins, GBP 2.20 each)
RS >> http://uk.rs-online.com/web/p/microcontroller/6962327/
programming ATtiny with Arduino >> http://www.kobakant.at/DIY/?p=3408

Arduino Mini (20 i/o pins, GBP 13 each)
Cool components (UK) >> http://dlnmh9ip6v2uc.cloudfront.net/images/products/09218-01c_i_ma.jpg
Sparkfun (USA) >> http://www.sparkfun.com/products/9218

After Dinner Notes

Trying on new gloves for fit

Videos of decorative lights

List of Things-to-Do
– Test decorative LED lights: embedding and control using arduino mini via x-IMU AUX port control
– Update glove wrist-band design to include x-IMU neoprene wrist tray, wired LED connections and vibration motor
– …

Saturday & Sunday

Video of gloves with differently mounted in-between finger sensors. Left hand: ring (Imogen is married to her gloves). Right hand: generic (nothing special).

Graphing in-between sensor values to compare and decide which works (and looks) best:

Sewing powermesh x-IMU pouch:

Thursday

Driver Board

Using Seb’s to-scale driver-board print-out we decided that we would like the board to face down/over the x-IMU. Since the board is also slightly larger (than the pull-up resistor board) this also helps eliminate strain on the connectors (board to board) from anything that might catch or push against the driver board… we remain open to suggestions.

Tweed Lights

Fixing Connections

Both the popper/snap and 14-way IDC connections are not the best… (both to be eliminated in next version).

Friday

After suit version 1 glove overhaul, all bend sensors are working beautifully:

Images of Rachel Freire’s work

Taken from >> http://rachelfreire.com/

New materials for glove

The netted fabrics are slightly stiffer than the lycra used in previous glove, so that the glove bunches and wrinkles in not so nice looking ways. Also, my sewing machine is skipping stitches on it, so that the seams look terrible. Have tried all the different kinds of needs that i had at hand, but not much difference.
Inserting the sensors behind the netting, they aren’t all that visible. Maybe we can find a looser, more transparent netting for the fabric used to cover the sensors. Or maybe we can coat the netting in a silicone that makes it more transparent?

* Vibration motor for tactile feedback

– any ideas on where it would be good to place this?
From Tom:
“I had a thought about the tactile feedback for Imogen. Kelly is designing new control modes where Imogen’s hands pass through lots of different regions but there’s currently no feedback. So we were thinking about a tactile feedback device along the lines of the one that you included in the original designs – image attached – it would be useful to pulse the motor when a boundary is crossed. These could be driven by the remaining PWM channel…
It would be great to have independent LED and motor control for each glove – but I realise this is quite unlikely for the this phase but I thought I’d throw it out there just in case anyone has a brainwave… Maybe we can use only two channels for the LED colours and use flashing to indicate the mode…”

NOTES

Shared spreadsheet >> https://docs.google.com/spreadsheet/ccc?key=0AtJnxpXitWKSdDZURVBhNGtqNDY5eFAzRkNnVi1zV2c&pli=1#gid=0

New GLoves

– re-wire sensors with more flexible red/black wires
– remove old in-line circuit board and solder sensor wires directly to 14-way cable (adhering to Tom’s layout!)
– solve strain relief issue for above connection
– check resistance values of all sensors when glove is worn and determine final pull-up resistor values (with Seb)
– trim and finish ends of glove fingers (with Rachel)
– check how RGB LED is holding up
– check how vibration motor is holding up, and sew second pouch
– beautify Shapelock mic-holder
– finalize wiring of the 3 Arduinos that control the decorative lights to the x-IMU and seperate power supply (with Rachel)
– program Arduinos to communicate with x-IMU over 4-bit protocol (with Tom)

Old Gloves

– remove old in-line circuit board and solder sensor wires directly to 14-way cable (adhering to Tom’s layout!)
– solve strain relief issue for above connection
– check resistance values of all sensors when glove is worn and determine final pull-up resistor values

* Sensors should connect to identical aux-ports on both left and right gloves and not be mirrored (industry standard?)

AX0 Thumb
AX1 Lower Index
AX2 Upper Index
AX3 Lower Middle
AX4 Upper Middle
AX5 Lower Ring
AX6 Upper Ring
AX7 Little
(Upper indicates the joint closest to ends of the fingers)

* X-imu connects to the sensors via cables instead of snaps

* X-imu mounted on the wrist in a hard tray with transparent cover, instead of fabric pouch

* LEDs to be mounted further back on hand so as not to interfere with drumsticks

* Sensors should be adjusted to better align with knuckles

* Palm cut-out should be smaller and have sealed edge, as should ends of fingers

ARMS

* LEDs connect to the back x-imu and two driver boards on the backpack via cables instead of thread

* Cables wrap around the arms anti-clockwise instead of clockwise

– depends on overall new design based on rachel’s work

* Cables should go from underneath clothing to outside and connect to backhub from sides

– possibly no longer relevant

* Ends of arm-band cables should be less flappy

– possibly no longer relevant

BACKPACK

* Backpack should be shorter and radios mounted two on either side with access to volume knobs. no waist strap. no velcro

– rachel’s design!

* Incorporate additional lighting and visual effects into fabric that correspond with touching or movement

– this will probably require a separate circuit to the x-imu

* Possibly also use x-imu tray design for back-hub elements (motherboard, battery, wireless module)

Glove to x-IMU connections:

AX0 Thumb
AX1 Lower Index
AX2 Upper Index
AX3 Lower Middle
AX4 Upper Middle
AX5 Lower Ring
AX6 Upper Ring
AX7 Little
where Upper indicates the joint closest to ends of the fingers.

Radios, dimensions

The dimensions of the radios are (W x H x D):
In-Ears (upper left shoulder so she can reach volume knob): 6.25cm x 8.2cm x 2.5 cm
Vox mic (upper right shoulder): 6.25cm x 8.2 cm x 2.5 cm same form factor
Wrist packs (don’t need to be reached): 6cm x 9.25cm x 1.75cm
All packs have metal clips on the back that protrude an extra 2cms beyond the thickness indicated.

Updated backpack plans

x-IMU behind translucent fabrics

Sketches

Video Stills

Shorten LED strap so that it is less loose and shift LED back by 1-2 cm so that it does not get in the way of drumsticks:

Not all sensors line up with knuckles:

Arm-band tube to glove connection could be less flappy, but still expose some red colour:

Wrist-band fits well, could be cut closer to snaps:

Hole in palm could be smaller and be reinforced around the edges:

Four radios mounted two on each shoulder. Volume knobs of earphone and mike should be in reach:

Backpack should be much shorter like a bolero, shoulders on backpack could be exaggerated:

Arm-band tubes should go underneath clothing, backpack should go on top of clothing. How to connect arm-bands from inside to outside of clothing?

No bottom strap, no Velcro on top strap:

Design-updates based on fitting comments and feedback

Backpack more like a bolero:

Or, backpack all rigid and hooking over shoulders like a marching band drum carrier/harness:

Shoulders of backpack could be exaggerated to look stylish:
>> http://www.lingerietalk.com/2010/12/29/lingerie-accessories/shoulder-pads-the-years-strangest-accessory-trend.html

The Suit

Videos

The Arm-bands and harness still need lots of adjustment!!! So that they fit and look much better, and that the armbands don’t dangle as they do now.

The Gloves

Back and Palm:

LED close-up:

The x-IMU Pouch

The Arm-Band

Arm-Band openings:

The Backpack

You can’t see it so well in the photo, but the backpack consists of: the backpack itself (carrier material), the back x-IMU that controls the RGB LEDs on both gloves, a panel for the LED x-IMU to connect to both Arm-bands, a pocket for the motherboard, which will also contain battery and wireless (possibly addition of another pocket/pouch), the lower half of the backpack consists of 4 deep pockets to hold the radio microphones and head pieces.

Upper-Arm-Bands

Include Upper-Arm-x-IMU pouch and sleeve for Arm-Band to go through.

Storage Bag

How the suit is worn:

How it all connects:

x-IMU Pouches (as seen from top):

Glove with Flex Sensors:

Flex Sensor Connections (as seen from top):

Arm-band with LED connections (as seen from top):

Arm-Band (folded out):

Back-Panel:

All Stencils:

Glove and Upper-Arm-Band Stencils:

Seb’s motherboard:

Glove Pattern to-scale

Not the most professional sewing pattern…
Seam: I tried to sew a straight stitch as close to the edge as possible, probably ended up with a 2-3mm seam.
Sensor tubes: i sewed these on before sewing the bottom and top of the glove together. i used a roughly 3mm wide zig-zag stitch and did it all in one continuous go.

Test setup:

Having some fun with fingers and servos…

The Suit

Original image >> http://www.flickr.com/photos/plusea/6650184405/sizes/o/in/photostream/

Work on backpack:

How to get the GND connection from inside to out…

Seb’s motherboard pouch, and how cables connect to it from the Arm-bands:

LED back panel without and with Arm-bands and x-IMU:

Designing the LED back x-IMU connector:

Figuring out the Arm-Band connectors and traces was not as easy as it looks.

Arm-Band to Back-Pannel connection:

Back-x-IMU to Back-Pannel connection:

Strap on shoulder keeps Arm-bands in place:

Arm-Band to Glove connection:

Glove to x-IMU Pouch connection:

Closing the Glove:

Microphone-Holder and LED attachments: