HI-WIREFinal Design Report

Executive Summary

• Project Plano Haptic Feedback Systemo Immersiveo Intuitive

• Implementationo Vesto Vibrationo 360 degree feedback coverage

Vest Fabrication

• Patterno Butterick suit Vesto Fits Small to Large Users

• Materialso 2-way Lycrao 1" Nylon Webbingo Plastic Buckles

• Design Featureso Shoulder, stomach, and rib sizing strapso 360 degree feedback coverageo Pouch on the upper back to hold motor

battery, controller PCB, and Arduino

Vest Fabrication

• Two motors o More powerful vibrations

• Large surface area• Motors offset by height

and mass distributiono Increased vibration sensitivity o Vibration phase change

Vest Fabrication

Vest Fabrication

• Parallel motors (2x30)• Connection protection

o Hot glueo Heat shrink

• Homemade twisted pair• 2-pin female JST(XH)

connector• Carpet tape

o Thino Sticky

Vibration Motor Control

• Hardwareo Custom-Designed Circuit Board (Rev. 2)o Motors

20 currently 32 possible

o 2 TLC4950 ICs One channel per motor Controlled by one signal

Vibration Motor Control

• Softwareo Arduino IDE

Arduino Pro (3.3V, 8Mhz)

o TLC4950 Library Handles bit level serial commands

o Vest Program Awaits connection with WiFly Enters Data Loop

• Requests motor speedso Pre-scaled and pre-mapped by server

• Updates motors

Original Testing Platform

• Platformo Stability Issueso Large Area

• Sonar Sensoro Slow Update Rateo 180° Coverage

• Duck Antennao Obstruction of Sensors

Cycle 2 Platform

• Platformo Better Stability

• Sensorso Speed

2 IR Sensors (front and back)o 360° Coverage

• Patch Antennao Same gain (2 dBi)o Low Profile

Communication

• Basic Setupo Server

Wifi Card - IEEE 802.11b Python Library SocketServer

o Robot/Vest - WiFly module

• Protocol - TCP/IPo Resend/Checksum benefitso Port Allocation - Port 3000o Weakness - Backoff time

• Packet Structure - 20 bytes

Communication (cont.)

Command Data Termination

1 Byte 19 Bytes 1 Byte

Char

Command

‘P’ Initial Parameters

‘D’ Drive Commands

‘X’ Vibration Motor Speeds

‘W’ Wait Command

‘R’ Resend Last Message

‘U’ Disconnect

User Interface

• Purposeso End-User Friendlinesso Expedition of Testing/Debugging

• Implementationo Written in Python

Uses PyGTK library

o Built with Glade

User Interface

User Interface

• Featureso Robot and Vest Connection Statuso Sensor Settings

Activation Gimble settings

o Sensor Status Placement Offset from Center Sensor Type

o Basic Load/Save Functions

User Interface

Standards

• Vest Sizeo ISO/TR 10652 (International Clothing Std.)o Sizes S, M, L

• Wireless Networkingo IEEE 802.11bo Protocols and Configurations

• Communication Protocolo TCP/IP

Internet Engineering Task Force (IETF) - RFC 793

Conclusion

• Project Resultso Bottlenecks

Sensors Communication

o Redundancy Needed Mimic Human Sensory System

Demonstration and Questions