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

4. Vest Construction

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

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

7. 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)

8. 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

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

10. 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

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

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

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

14. Questions?