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HI-WIRE

HI-WIRE. Final Design Report. Executive Summary. Project Plan Haptic Feedback System Immersive Intuitive Implementation Vest Vibration 360 degree feedback coverage. Vest Fabrication. Pattern Butterick suit Vest Fits Small to Large Users Materials 2-way Lycra 1" Nylon Webbing

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HI-WIRE

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  1. HI-WIRE Final Design Report

  2. Executive Summary • Project Plan • Haptic Feedback System • Immersive • Intuitive • Implementation • Vest • Vibration • 360 degree feedback coverage

  3. Vest Fabrication • Pattern • Butterick suit Vest • Fits Small to Large Users • Materials • 2-way Lycra • 1" Nylon Webbing • Plastic Buckles • Design Features • Shoulder, stomach, and rib sizing straps • 360 degree feedback coverage • Pouch on the upper back to hold motor battery, controller PCB, and Arduino

  4. Vest Fabrication

  5. Vest Fabrication • Two motors • More powerful vibrations • Large surface area • Motors offset by height and mass distribution • Increased vibration sensitivity • Vibration phase change

  6. Vest Fabrication • Parallel motors (2x30) • Connection protection • Hot glue • Heat shrink • Homemade twisted pair • 2-pin female JST(XH) connector • Carpet tape • Thin • Sticky

  7. Vibration Motor Control • Hardware • Custom-Designed Circuit Board (Rev. 2) • Motors • 20 currently • 32 possible • 2 TLC4950 ICs • One channel per motor • Controlled by one signal

  8. Vibration Motor Control • Software • Arduino IDE • Arduino Pro (3.3V, 8Mhz) • TLC4950 Library • Handles bit level serial commands • Vest Program • Awaits connection with WiFly • Enters Data Loop • Requests motor speeds • Pre-scaled and pre-mapped by server • Updates motors

  9. Original Testing Platform • Platform • Stability Issues • Large Area • Sonar Sensor • Slow Update Rate • 180° Coverage • Duck Antenna • Obstruction of Sensors

  10. Cycle 2 Platform • Platform • Better Stability • Sensors • Speed • 2 IR Sensors (front and back) • 360° Coverage • Patch Antenna • Same gain (2 dBi) • Low Profile

  11. Communication • Basic Setup • Server • Wifi Card - IEEE 802.11b • Python Library SocketServer • Robot/Vest - WiFly module • Protocol - TCP/IP • Resend/Checksum benefits • Port Allocation - Port 3000 • Weakness - Backoff time

  12. Communication (cont.) • Packet Structure - 20 bytes

  13. User Interface • Purposes • End-User Friendliness • Expedition of Testing/Debugging • Implementation • Written in Python • Uses PyGTK library • Built with Glade

  14. User Interface

  15. User Interface • Features • Robot and Vest Connection Status • Sensor Settings • Activation • Gimble settings • Sensor Status • Placement • Offset from Center • Sensor Type • Basic Load/Save Functions

  16. User Interface

  17. Standards • Vest Size • ISO/TR 10652 (International Clothing Std.) • Sizes S, M, L • Wireless Networking • IEEE 802.11b • Protocols and Configurations • Communication Protocol • TCP/IP • Internet Engineering Task Force (IETF) - RFC 793

  18. Conclusion • Project Results • Bottlenecks • Sensors • Communication • Redundancy Needed • Mimic Human Sensory System

  19. Demonstration and Questions

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