HI-WIREHaptic 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.

• Design Solution: Utilize proximity sensor information to drive a vibration based feedback controller in a modular package.

Feedback Interface Packaging• Modular Vest Design

o Unisex Sizingo Small to Largeo Selectable Node Deploymento 360˚ Node Coverage

• Safety Concernso Electrocution Standardso Flammability Concerns

Vest Construction

Vibration Motors• Vibration Motor

o 10 x 3.4 mmo 1.6 - 3.6 V

• Metal Backingo 25-30 mm diametero Increases vibration sensitivityo Velcro on back

Motor Mounts / Wiring

~30 motors

Interchangeable Design

Hidden Wiring

Motor Control• PWM Signal

o Variation of motor intensity

• Problemso Limited pins on Arduino for PWM (only 6)o Too much current draw (>40mA required)

Motor Control (Solution)• TLC5940NT PWM Driver

o Texas Instruments 28-DIP• Benefits

o Up to 16 Channel PWMo Up to 60 mA supplied per Channel

TLC-5940• Interface With ATMEGA328P

o Arduino Library Available

Driving Circuit• Motors Sourced from External 3.6V Power Supply

o 6600mAh, ~ $25 Li-Ion Gives ~2.5 hrs Per Charge

• Simple Switching Circuit o 2N3904 Transistoro Diode for flyback protection

Testing Platform• Exploratory robot• Sonar sensors

o PING))) Ultrasonic Distance Sensor

FRONT

http://www.parallax.com/tabid/768/ProductID/92/Default.aspx

Testing Platform• Control

o Arduino UNO microcontrollero PlayStation 3 controller

http://arduino.cc/en/Main/ArduinoBoardUno

http://us.playstation.com/ps3/accessories/dualshock-3-wireless-controller-ps3.html

Testing Platform• Communication

o XBee Serial Antennao RN-XV WiFly Module

https://www.sparkfun.com/products/8665https://www.sparkfun.com/products/10822

Questions?