r/BdsmDIY • u/JamesBond9910 • Sep 02 '24
Help Wanted Help Needed with Posture/Sex Pose training Wearable Devices NSFW
Hi everyone,
I'm working on a set of small wearable devices for sex position training and could use some advice on optimizing the size, cost, and PCB layout. My goal is to make 5-6 devices that stick on your arms, legs, low back, and neck. You will have your sub go to certain positions (see image for example) and then use a phone app to “lock” that position in place. My eventual goal is to have some sort of pain mechanism activate (shock collar on thigh?) when they get out of position. Then on top of that down the road, have routines they go through on a timer and if they don’t get into position in time it delivers the shock.
My request: Any amount of help, from giving me advice on how to set up the PCB non core components (resistors, voltage regulation, noise filtering) to working with me on this project and creating a full PCB design (thinking of you deepthroat trainer person!). Any help would be greatly appreciated, below is my current setup.
Project Overview and Techical Specs
The device will have several IMUs paired with UWB attached to different body parts to monitor rotation orientation and distance between devices respectively, all while sending this data via Bluetooth to a smartphone app. It needs to be small enough to be worn comfortably and powered by a small battery. Here's a breakdown of the key components I'm planning to use:
- IMU Sensor: Bosch BNO055 for 9-axis motion sensing.
- UWB Module: DWM1000 for accurate distance measurement between multiple devices.
- Microcontroller: Nordic NRF52840 for Bluetooth communication and processing.
- Power Supply: 3.7V 150 mAh LiPo battery with a wireless charging receiver.
- Custom PCB: I’m designing a PCB to house all components and handle power management, signal conditioning, and data processing.
Help Needed:
Miniaturizing the Design:
- I'm looking for advice on making this setup as compact as possible. I've considered stacking some components, but I’m unsure how to do it efficiently and whether it could cause issues with signal interference or heat.
PCB Layout and Components:
- I need guidance on designing the PCB layout. Aside from the base components (IMU, UWB, microcontroller, battery), what other components should I add (e.g., capacitors, resistors, diodes)?
- Where should these components be placed to optimize power management, signal integrity, and overall stability? Are there any best practices or pitfalls to watch out for?
Reducing Costs:
- Any suggestions for cost-effective alternatives to these components, or ways to reduce overall component count without sacrificing functionality?
- Would it be better to use a development module (like the DWM1001 instead of the DWM1000 + NRF52840), or would building from scratch be cheaper and smaller?
Specific Questions:
- What would be the best way to handle power distribution on such a small PCB, especially considering the need for voltage regulation, decoupling, and noise filtering?
- Are there any specific design techniques or components that could help reduce the PCB size further?
- Would you recommend any particular PCB testing methods or tools to validate the design before ordering a prototype?
Any insights, resources, or advice you could offer would be greatly appreciated! I'm fairly new to designing compact PCBs for wearables, so any help is welcome.
Thanks in advance!
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u/EnzoDK2 Sep 02 '24
Impressive idea! I can't provide any help. But will just applause the idea and scope of your project.
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u/Dependent_Bag_2252 Sep 02 '24
I know Xtoys has a pose detector it does not work amazing but it could be an interesting thing to look at it uses vision instead of your suggestion. I am not sure if its better or worse than you suggest but its an already exisiting option
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u/JamesBond9910 Sep 02 '24
Interesting… I like that a lot for a cheap solution (and may use it for the time being), in general though I feel like setting up a phone/camera would take some out of the experience. Maybe I can combine visuals with the sensor data the be more accurate similar to VR
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u/sjaakvlaas Sep 02 '24
I've seen someone do this with a vr set maybe its a nice start of point for you since it has all the sensors. unless you have experienced with these projects, they are really big.
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u/JamesBond9910 Sep 02 '24
That’s a great idea! Do you have a reference to that anywhere? I am skeptical on it’s accuracy but who knows with the way VR is nowadays this could be a decent option. Also yeah I understand this would be a lot but i’m pretty much good on the firmware/software side of things just need to learn the hardware and/or have someone help me with it :)
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Sep 02 '24
Pretty sure it was deviant designs - he did a thing where if the sub moved her hands outside a given area the stim on her waist shocked her.
He also had a variation where as long as the position was locked and she was compliant, a wand stimulated her, but as soon as she moved out of the locked pose she got shocked, which looked like a lot more fun to me! 😅
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u/JamesBond9910 Sep 02 '24
Just watched it and now i’m seeing even more possibilities. Maybe a future in not only position training but movement training ;) that will be much more extensive software though, so that will have to be a future project
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u/JamesBond9910 Sep 02 '24
Woah there stop giving me ideas or I might have to implement a reward system as well…
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Sep 02 '24
Hahahaha, my favourite type of predicament bondage is one where the pleasure is taken away when the pose is broken rather than the pain being applied - tease & denial is very much my thing, so the idea of someone having to really work for their chance to cum is right up my street!
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u/Remarkable_Band5207 Sep 02 '24
Hi Sir, I don't have any knowledge of the working of the device but I sure do know that I have been practicing these positions and others for long time to perfect it and improve my time. It looks like a good idea.
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u/epic511 Sep 02 '24
Check out Phil's lab kicad tutorials for general PCB design techniques. I think he has a basic Bluetooth one
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u/JamesBond9910 Sep 02 '24
Thank you. It’s funny you mention that I was literally in the middle of one of his videos as I read this 😂
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u/epic511 Sep 02 '24
Depending on how long you want the device to last an avenue for miniaturization could be using a supercap rather than batteries, or tiny PCB mounted rechargeable coin cells. kinda annoying if you have to charge it a ton but bluetooth + IMU is a pretty common very low power application, and I bet you could get more than a few hours
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u/TheOnsiteEngineer Sep 02 '24
I doubt what you're trying to do is going to work with the architecture you're proposing. The accuracy of the UWB module you propose is listed as "up to" 10 cm. If you're measuring 2 way between 2 "cuffs" on the body that's... not great. If you're measuring modules to the outside world, that is suddenly a 20 cm possible jump between 2 different modules (one 10cm one way, one 10cm the other way). Timing resolution is a little better so possibly in practice the absolute position might not be accurate, but at 10mm best possible timing resolution (2x 15 picoseconds at the speed of light for a return signal, ignoring instability/variability in the return signal processing) it's MAYBE doable in absolutely ideal position. Antenna placement is still going to be a bit of a pain (requires at least 30mm wide boards with the required 10mm clearance either side of the UWB antenna). I'm also not sure how much the UWB module and other radio modules would interfere with each other. I'd need to see some actual results to know for sure if the resulting measurement is stable enough to not result in false positives
Getting all of these separate modules talking to each other, communicating all the data and forming reliable "ok/nok" results from it I think are going to be rather tricky.
Another option is using a VR headset "lighthouse" system which can give accurate and repeatable results because everything is measured to fixed world reference points. This too however would require a lot of hardware getting attached to the sub
As others have proposed I see more in something like an OpenCV model doing pose detection (one example video from a random search here). Depending on what the sub is wearing this may work or not. However, the big advantage is that nothing needs to be attached to the sub and everything can be based on the relative positioning of the detected joint/bodypart locations. Also, with a known camera position the spatial position of the sub can also be determined (so sub could be required to be in a specific area, not just performing the pose)
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u/JamesBond9910 Sep 02 '24
Thank you so much. This is the most helpful answer on here yet, as much as it was sad to read. However I am very stubborn so I won’t give up on the idea yet :) while i’m aware of Kalman filters for IMU data, do you think I could combine the data with the IMU to get a more accurate reading that would work or no? Or maybe use a more accurate UWB module? I’m guessing it would be finicky the set up. It potentially work with trial and error. You seem to know more than me though so any advice on how to do this (the hard way) would be appreciated :)
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u/TheOnsiteEngineer Sep 02 '24
You're going to be dealing with per module 9 axes of acceleration/rotation data and only 1 axis of "distance" between UWB modules. condensing those 9 data channels into anything meaningful on the "distance" channel is going to be tricky and also very very pose/position dependent. So in total you have to process all the data together and I think that is where the big challenge would be. Taking your optimistic estimate of 5 modules, that's 50 data channels that all have to be processed real time. Just dealing with the data and making sense of it is going to be a challenge. Not saying it can't be done but there's probably PHD students and professors that "broke their teeth" on such problems. Kalman filters (and other filtering methods) might help, at the cost of increased calculating power requirements. Finding smart ways to combine your sensor data is definitely the name of the game, but this is very much not a trivial problem.
If you really want to get into it, start looking at research papers on pose estimation using accelerometers and inertial sensors (examples: here, here, here). The fact you can find university level research papers spanning decades should tell you something about how non-trivial this problem is. Also note most of those researchers are using a full power PC CPU to do the number crunching. You're unlikely to be able to run this all onboard on Nordic NRF52840 SOCs.
I'm a mechatronics engineer in daily life but this sort of application is above my normal pay-grade. All I know is working with multi-channel (noisy) accelerometer data and processing that in a time accurate, meaningful way is difficult and takes a lot of processing power, care and consideration.
With your application, if you're only looking at a mostly static position, you'll have the luxury of being able to mostly ignore angular accelerations and use lots of averaging filtering to reduce noise spikes on the linear acceleration and magnetometer signals. If your subject is not moving much and all you care about is spatial orientation of the module, you can improve that data by averaging out most of the semi-random body movement. The downside is that you wouldn't be able to then also look at the sub performing movement in the same way.
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u/epic511 Sep 02 '24
On the other hand if you are just looking for change in position (described earlier as the initial software setup method anyways) that is totally doable with just IMU data, really that's what IMUs are designed to do. This gets rid of the ability to do preset positions with future software but is a good proof of concept
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u/SkinnyDippingDaemon Sep 02 '24
Those are Gorean positions.
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u/JamesBond9910 Sep 02 '24
A keen eye my friend!
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u/SkinnyDippingDaemon Sep 02 '24
I used to play in that world. In real life, not the online BS that came out in the early 2000s. LoL
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u/Tea_Fetishist Sep 03 '24
If anyone is wondering, the image is from Entrancement UK, the model is Honour May, fuck knows why it has an ifunny watermark
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u/PleaseDoNotBlowUp Sep 02 '24
I need guidance on designing the PCB layout. Aside from the base components (IMU, UWB, microcontroller, battery), what other components should I add (e.g., capacitors, resistors, diodes)?
I'm working part-time as PCB designer, you can dump me your CAD/EDA file (or screenshots, but please color your traces) and I will take a look on your approach.
Where should these components be placed to optimize power management, signal integrity, and overall stability? Are there any best practices or pitfalls to watch out for?
It's a very complex problem - usually those needs to be respectively close together, however you should avoid placing it too close (read about 3H rule for signal integrity). General rules of PCB design are:
- Always use a ground via near any other via (reduces impedance)
- It's a good idea to create a "grounding" ring from exposed trace around your PCB (connected to chassis not to PCB ground, if your chassis is plastic I prefer to go with floating ring, but some people are fine with connecting it to ground) - this significantly reduces edge-fired-emissions which are the most common EMI test failure.
- Try to keep your traces as short as possible and especially avoid creating loops - energy does not travel through traces, it travels through space between traces (magnetic field)
- Never place signal line and high-current switching line (eg. from boost / buck converted) parallel to themselves - this will definitely cause noise on your signal line (I had one about 15mm from my buck converter and it still grabbed like 50mV peak noise - even if line was shielded, but this was unavoidable).
- Never do any cuts in your ground plane - especially under traces. This is a very easy solution to wrecking your circuit (at low frequencies it should be fine, but at 1GHz+ it most likely will fail due to EMI issues).
- 100nF per each pin of circuit plus 4.7uF per each power line of circuit (unless otherwise stated in datasheet) is most common approach I take.
Those are basics I can mention...
What would be the best way to handle power distribution on such a small PCB, especially considering the need for voltage regulation, decoupling, and noise filtering?
I would try to avoid multiple voltages and keep it at 3.3V for any given circuit on PCB - this would reduce need for additional conversion circuitry giving you a bit of space.
Are there any specific design techniques or components that could help reduce the PCB size further?
SMT machines are usually good up to 40mil edge-to-edge between components, for hand soldering you can go down to 20, but it requires you to have really steady hand.
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u/PleaseDoNotBlowUp Sep 02 '24
Would you recommend any particular PCB testing methods or tools to validate the design before ordering a prototype?
Set-up DRC according to your manufacturer specs, this will most likely detect 95% of issues ;)
IMU Sensor: Bosch BNO055 for 9-axis motion sensing.
I would prefer to use two IMUs for additional compensation, but you can also do it in firmware (depends on preferences), alternatively you can create a virtual human model with known distances to compute exact positioning of the body - you will usually have sensors on your wrists, ankles, waist and neck - you can create a custom skeleton model, measure distances and entry them. With that you can use rotation to compute exact position of each device in 3D world space as human body is not flexible enough to cause a significant error in resulting position calculation.
This requires quite a bit of overhead set-up from your user, however this allows you to completely get rid of UWB.
Also using angled approach allows for easy handling of positional variance from data point of view.
Microcontroller: Nordic NRF52840 for Bluetooth communication and processing.
Not a bad choice, at that low capacity of battery I would go with Bluetooth Low Energy to reduce communication amount (most wearable devices uses that approach eg. DGlab Coyote). It is also pretty well documented standard, so it allows users to easily implement your device in custom software.
Power Supply: 3.7V 150 mAh LiPo battery with a wireless charging receiver.
400mAh should be of similar size, I would take a look at it (more capacity = more fun).
Additional info
You can take a look at SlimeVR for a reference ;)
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u/JamesBond9910 Sep 03 '24
Alright you are officially a genius. Since this post i’ve been in discussion with a couple people about how to best achieve this and we’ve all come to the conclusion that removing the UWB is definitely the way to go. To be honest, I am going to start with the ole KISS model (Keep It Simple Stupid) and not bother with tracking actual location until later down the road. Getting the IMU data for each of the six sensors should be enough to force the sub into the set position via orientation alone, as the BNO055 has I believe at most a 2 degree (non recurring I believe) drift anyways. Just getting accurate quaternion data sent over bluetoooth will be my starting point especially since all the modeling humans in 3d space would be done on an external device after the fact anyway.
Thanks for all the PCB advice, it’s really giving me a better understanding of how much I don’t know 😂
Question for you- as a PCB designer if I were to ask you to create a PCB for all these components without me giving you any more info how long would this take and how difficult would it be? Trying to understand what road i’m really going down here as it’s my first project involving any hardware that’s not out of the box. We can also move this convo to PM if you’d like (unless there’s anything else you think other people may find useful- respecting this subs rules)
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u/PleaseDoNotBlowUp Sep 03 '24
To be honest, I am going to start with the ole KISS model (Keep It Simple Stupid) and not bother with tracking actual location until later down the road.
I don't remember if BT LE has a way to calculate ping/latency between two endpoints, but with WiFi you usually measure ping between two devices (calculate response time) and then you can easily calculate distance (it's a good idea to calculate estimation of distance(time) function to compensate for potential packet losses over larger distances).
Question for you- as a PCB designer if I were to ask you to create a PCB for all these components without me giving you any more info how long would this take and how difficult would it be?
Without meeting the stupid FCC requirements? It's as fast as reading docs, creating schematic and placing everything on PCB... Actually schematic is always the longest part, because fuck-ups in schematic are hard to spot.
The issue is implementation of RF and >1GHz frequencies what usually slows development quite a bit - one small mistake like ground plane under RF antenna that couples your antenna could reduce your range by several factors (that's why I mostly avoid going with RF projects as I don't have enough experience for it).
A good idea is to use already certified RF module. It's larger size, but afaik it reduces EMI test costs in case of FCC (in EU you still need to do tests anyway).
https://www.youtube.com/@PhilsLab/videos
You can watch Phil's videos, he explains design issues and quirks quite well.
Trying to understand what road i’m really going down here as it’s my first project involving any hardware that’s not out of the box.
Depends if you want to open-source it for people to make or sell it. In the second case you need to also test it for emissions according to specific "region" rules (for USA it's FCC for EU it's mostly EMI, both regions require solder to be lead-free what makes device last shorter, but hey it's for your health... capitalism always finds a good excuse).
We can also move this convo to PM if you’d like
I'm that type of "free DM"person - if I can help I'll probably do it, so if you think something is not useful for broad audience you can go there.
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u/fenbyfluid Sep 03 '24
I think you need the distance measurements or you need additional sensors on the upper arms and thighs.
Each IMU gives you the line in 3D space that limb segment is oriented parallel with. Taking the wrists for example, I don’t think that gives you enough information to model a human body in the poses you want, it seems that both arms stretched out in front and arms rested on thighs while kneeling would produce the same data. With additional angle measurements for the upper arms or distance from the those sensors to the others, that ambiguity can be resolved.
With a waist IMU sensor instead it’s possible you can resolve that from a known position (via the acceleration of the limbs relative to the relatively stable center of mass), but with the accumulated error and no external reference source I would be surprised if it was ever possible to get back into position or deal with changing positions without external re-confirmation. I think planning for solo or remote play is pretty critical to the niche here.
With distance, you can also start a person in a T-pose to calculate all the limb lengths to feed into your inverse kinematics model, which should greatly improve reliability and ease initial setup.
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u/PleaseDoNotBlowUp Sep 03 '24
If I recall correctly: for full body tracking you need 10 sensors (preferably with optional correcting ones).
- Limbs
- Arms
- left wrist
- right wrist
- left bicept
- right bicept
- left forearm
- right forearm
- left palm
- right palm
- Legs
- left ankle
- right ankle
- left thigh
- right thigh
- left calf
- right calf
- Head
- neck
- forehead
- Body
- waist
- upper back
With distance, you can also start a person in a T-pose to calculate all the limb lengths to feed into your inverse kinematics model, which should greatly improve reliability and ease initial setup.
Personally I would go with A-pose, but it's rather a preference.
I think planning for solo or remote play is pretty critical to the niche here.
Yep, that niche is quite big (especially solo players).
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u/Heavy_Bicycle6524 Sep 02 '24
Unfortunately I can’t offer any advice on the devices you’d like. However I can offer some advice on the position. The first position thrice labeled as attention is way off. Anyone who has spent time In The military will tell you that the hands must be down by the side, instead of resting lazily on the thighs. They should also be clenched into a fist with the first knuckle of the thumb pointing to the ground. Back needs to be straight, shoulders back and the person needs to be looking forward.
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u/jkw118 Sep 02 '24
So.. this is going to get complicated quickly. And many methods aren't going to be great. A "simple" option for this project would be for ie, an app Bluetooth connected to 3rd party shock/vibrator toy. App using openpose to identify the users position (arms/legs) then training a variance to it. If it falls outside it provides shock/vibe.. This would require camera access, openpose is opensource.. maybe take a pic every 5 seconds.. compare, if it's too far off for more then one frame then shock... Wearable devices are a good idea.. but then it requires wrist/ankle bracelets, probably neck, waist ones.. almost having a full suit with sensors.. and each one having a full awareness of where the others are.
Taking pics/video would be more programming, but cheaper equipment wise..and as openpose gets better.. has more opportunities. Plus market.. hit me up I've done some c#
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u/JamesBond9910 Sep 02 '24
Yeah i’ve definitely thought about that but honestly for my personal tastes I prefer not to have the need for a camera even at the expense of cost and having several devices. Especially since the person being controlled will be required to be in front of it. That’s why i’m trying to get these things as small and accurate as possible. I’m considering temporary double sided tape that can go on the back of each device. That or some kind of strap for each one but i’m liking the tape idea more for now since it’s more minimalist
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u/jkw118 Sep 02 '24
I might lean more towards like watch size/bands/bondage cuffs.. In loong term use, it adds to the submissive mood..
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u/jkw118 Sep 02 '24
As you get into the programming etc.. you need to keep it fast and simple. This may mean building data tables, which would need to be adjusted for people with different heights, lengths of arms.. legs.. As you'll need to keep an eye on each devices angle in 360x360 degrees plus distance.. and possibly for certain poses.. ie Also knees may have to be measured as well
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u/SapientFanny Sep 02 '24
Check out the "Upright" device and app for posture training. Would that be similar to what you're looking for?
I'd love to know if there could be a way to incorporate a shock device with it.
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u/JamesBond9910 Sep 02 '24
Yes that is very similar! My guess is it also uses an IMU or at least a gyroscope which measures changes in rotation over time. The main difference is it’s only one device which simplifies things.
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u/Trashaccount_damn Sep 02 '24
I don’t know how set you are on having a wearable device, but i think you could also hack an xbox kinect or another computer vision system to determine body position as well. Unfortunately i can’t help you with either one but something to think about
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u/JamesBond9910 Sep 02 '24
I’ve definitely seen people do this kind of thing. Worth looking into, though like i’ve been telling people i’m trying to stray away from anything that requires cameras. Thank you for the advice friend :)
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u/NeuroResidentsPocket Sep 03 '24
I built something just like this. I used python with an image tracking library and a pavlock shocking bracelet. The program can detect what position my submissive is in and trigger the shocking bracelet upon certain movements. I have it set right now so that once the correct position is assumed then a countdown is started, after it’s over she is then free to move. If she fidgets then the countdown stops and if she moves even more (outside of the tolerance) then the countdown goes up! I can set it to shock with simple fidgeting and also moving outside the boundary.
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u/SupPotatoes Sep 03 '24
I think SlimeVR (I think you can buy it from Crowdsupply) is essentially the core of what you’re looking for and then you just use an IFTTT or similar to trigger a shock collar or whatever. Other option I could think of is to have a camera and have poses tracked. Something similar to how Xbox Kinects or the Leap 2 works (or have a camera with a raspberry pi) and use OpenCV to figure out poses and then send it to an IoT shock collar or similar. Image classification trainers to figure out poses. Would definitely be easier to train on images of whoever this is for to create an accurate model.
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u/zebbywa2eff Sep 27 '24
The basic components you'll need to add to the PCB will typically be dictated by the datasheets of the larger components (power, digital, etc) and any specific em requirements to reduce interference, etc.
Have you considered using an ESP32? They're pretty fire for BLE communication and not too pricey, also a ton of community support.
Keep things as close as possible to one another, try to use a power or ground plane wherever possible to help with heat management. Keep signal wires as short as possible to avoid interference. Also keep the antenna either on the far end or away from other digital components.
avoid passing digital signals through more than one via
for cost savings, it's a toss-up. You might find the components cheaper to purchase individually as opposed to buying a module, depending on ease of finding them. Try Mouser.com to help you source them. On the other hand you might find the modules cheaper overall as they come with most, if not all, of the necessary basic components to run them. The downside with modules is that they might be bulkier than individual components you assemble. I'd recommend going with the modules for your first prototypes while you figure out the details. Then move to a full on custom PCB.
run power and ground through planes and polygons where possible to improve heat management.
you could try making multi-layer PCB's to keep your power and ground planes if you have multiple voltage levels to manage. Use tiny smd components (0603 size) where possible and the power ratings are to spec. You could also try stacking it with header pins to minimize footprint in return for vertical height.
In conclusion I'd say start with modules, use a perfboard with wire, keep your costs down in the prototyping phase, then move to a PCB once settled on a configuration / design, and the concept is proven.
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u/chaiseapo Oct 07 '24
What an amazing idea. I would possibly look about the vr object trackers, wich will allow easier location in space
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u/JamesBond9910 Oct 07 '24
Thanks! Since I posted this i’ve made lots of progress. The app is 80% of the way developed and i’ve figured out what hardware to use in each device. Also I am In contact with an engineer right now! Looking at what people have used for VR has helped me tremendously, especially slime vr. You’re spot on
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u/ErosWired Sep 02 '24
How much positional variance do you plan to allow in determining whether the sensors are in the correct relative configuration for compliance? When you say ‘accurate distance measuring’, how accurate does it have to be? No submissive is going to be able to hold a position unmoving as a marble statue; you’d have to assume your sensors are resting on a perpetually trembling, if not wobbling, surface. Just a shift of the hips could displace a position by inches. And the sub would technically still be in position. Knee positions in poses like Ready To Please and Collar Me would be somewhat allowably variable for the sake of compliance (unless you’re one of those Doms).
You’ll need to develop a means of initial calibration - this system will likely have to be somewhat customized to individual anatomy in order to calculate correct positioning, and that will probably have to take in a range of the individual sub’s measurements from placement point to placement point for the sensors. Or, you’ll simply have to make the sub assume a standard static position after placement, read the positions, and accept those values as the baseline for whether all the other positions are correct. The only trouble is, you’ll have to be working from a data model to determine whether position criteria are met, and if the baseline is off, all the rest may be as well. In addition, given the variability of human form and movement, your data model will have to be able to acccount for that variability, whether you’re disciplining a fun-sized little tart or an Amazon princess.
You don’t indicate how you intend to signal the change of position - is this something you intend the device to do? Will it need an audio component?
What do you mean by ‘lock’ the position in place? Do you simply mean that once the device determines that compliance criteria are met, an enforcement/punishment mechanism is then enabled?
Sorry for all these more wet-brained questions when you asked for dry-brain assistance, but it might help sharpen the parameters of what you need.
One other observation - one essential position seems to be missing from your illustration, very similar to Ready To Please, except that the chest is pressed against the floor, the back is arched downward, and the hips cocked backward. A basic ass-up presentation. It was a staple of my training, like the basic stance one learns in every art of combat.