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. 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 Sizing o Small to Large o Selectable Node Deployment o 360˚ Node Coverage Safety Concerns o Electrocution Standards o Flammability Concerns

Vest Construction

Vibration Motors Vibration Motor o 10 x 3.4 mm o V Metal Backing o mm diameter o Increases vibration sensitivity o Velcro on back

Motor Mounts / Wiring ~30 motors Interchangeable Design Hidden Wiring

Motor Control PWM Signal o Variation of motor intensity Problems o 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 PWM o 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 Transistor o Diode for flyback protection

Testing Platform Exploratory robot Sonar sensors o PING))) Ultrasonic Distance Sensor FRONT

Testing Platform Control o Arduino UNO microcontroller o PlayStation 3 controller ualshock-3-wireless-controller-ps3.html

Testing Platform Communication o XBee Serial Antenna o RN-XV WiFly Module

Questions?