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HI-WIRE

HI-WIRE. Haptic Interface With Intuitive Robot Control. Introduction. Design Problem: How to tie robot control to a remote user while maintaining a high level of intuitiveness and simplicity.

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HI-WIRE

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  1. HI-WIRE Haptic Interface With Intuitive Robot Control

  2. Introduction • Design Problem: How to tie robot control to a remote user while maintaining a high level of intuitiveness and simplicity. • Design Solution: Utilize proximity sensor information to drive a vibration based feedback controller in a modular package.

  3. Feedback Interface Packaging • Modular Vest Design • Unisex Sizing • Small to Large • Selectable Node Deployment • 360˚ Node Coverage • Safety Concerns • Electrocution Standards • Flammability Concerns

  4. Vest Construction

  5. Vibration Motors • Vibration Motor • 10 x 3.4 mm • 1.6 - 3.6 V • Metal Backing • 25-30 mm diameter • Increases vibration sensitivity • Velcro on back

  6. Motor Mounts / Wiring Interchangeable Design Hidden Wiring ~30 motors

  7. Motor Control • PWM Signal • Variation of motor intensity • Problems • Limited pins on Arduino for PWM (only 6) • Too much current draw (>40mA required)

  8. Motor Control (Solution) • TLC5940NT PWM Driver • Texas Instruments 28-DIP • Benefits • Up to 16 Channel PWM • Up to 60 mA supplied per Channel

  9. TLC-5940 • Interface With ATMEGA328P • Arduino Library Available

  10. Driving Circuit • Motors Sourced from External 3.6V Power Supply • 6600mAh, ~ $25 Li-Ion Gives ~2.5 hrs Per Charge • Simple Switching Circuit • 2N3904 Transistor • Diode for flyback protection

  11. Testing Platform • Exploratory robot • Sonar sensors • PING))) Ultrasonic Distance Sensor FRONT http://www.parallax.com/tabid/768/ProductID/92/Default.aspx

  12. Testing Platform • Control • Arduino UNO microcontroller • PlayStation 3 controller http://arduino.cc/en/Main/ArduinoBoardUno http://us.playstation.com/ps3/accessories/dualshock-3-wireless-controller-ps3.html

  13. Testing Platform • Communication • XBee Serial Antenna • RN-XV WiFly Module https://www.sparkfun.com/products/8665 https://www.sparkfun.com/products/10822

  14. Questions?

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