PolyGlove: a body-based haptic interface - Revision history

AndreaBonarini at 11:28, 3 October 2011

2011-10-03T11:28:12Z

AndreaBonarini at 16:38, 2 April 2010

2010-04-02T16:38:45Z

AndreaBonarini at 16:38, 2 April 2010

2010-04-02T16:38:18Z

GabrieleValentini: /* Sensor's shape and size */

2008-09-30T17:34:51Z

‎Sensor's shape and size

GabrieleValentini: /* Position/Motion feed */

2008-09-30T17:34:13Z

‎Position/Motion feed

GabrieleValentini: /* SW Architecture */

2008-09-30T17:31:47Z

‎SW Architecture

GabrieleValentini: /* HW architecture */

2008-09-30T17:31:21Z

‎HW architecture

GabrieleValentini: /* '''Part 2: project description''' */

2008-09-30T17:30:41Z

‎'''Part 2: project description'''

GabrieleValentini: /* Introduction */

2008-09-30T17:27:18Z

‎Introduction

GabrieleValentini: /* '''Part 2: project description''' */

2008-09-30T17:24:50Z

‎'''Part 2: project description'''

@@ Line 9: / Line 9: @@
 |restopic=Bio Robotics
 |start=2009/04/03
-|end=2009/04/04
+|end=2009/04/03
 |status=Closed
 |level=Ms

@@ Line 2: / Line 2: @@
 |title=PolyGlove: a body-based haptic interface
 |image=DSCN0522.JPG
-|short_descr=PolyGlove is a new kind of haptic interfaces, that try to overcome the borders
+|short_descr=PolyGlove is a new kind of haptic interfaces, that try to overcome the borders of the present datagloves exploiting the EAP technology.
 of the present datagloves exploiting the EAP technology.
 |coordinator=GiuseppinaGini
 |tutor=PaoloBelluco;
 |students=GabrieleValentini
 |resarea=Robotics
 |restopic=Bio Robotics
@@ Line 15: / Line 14: @@
 |type=Thesis
 }}
 == '''Part 1: project profile''' ==

@@ Line 1: / Line 1: @@
 == '''Part 1: project profile''' ==
@@ Line 35: / Line 52: @@
 == '''Part 2: project description''' ==
 === Introduction ===

@@ Line 171: / Line 171: @@
 coming from the tests and for finish the undeveloped points of the feed.
 ===== Sensor's shape and size =====
- As viewed in section 6:2, Polyglove suffer
+As viewed in section 6:2, Polyglove suffer
 of some problems due to the improper shape and size of the PVDFs, prob-
 lems such the reciprocal disturb of the sensors.
@@ Line 185: / Line 185: @@
 turb problem. By the way, this choice improve the glove performance, reduce
 the cost about sensors and make possible realize sensors for all the fingers.
 ===== PVDF characterization =====
   Another point that need to be complete

@@ Line 167: / Line 167: @@
 How viewed from the tests, the part of position/motion feed developed need
 to improve same points in order to solve problems. From the other side,
-there are a lot of new works to do for �nish the developing process of the
+there are a lot of new works to do for finish the developing process of the
-feed. In the next rows will be presented the guidelines for �x the problems
+feed. In the next rows will be presented the guidelines for fix the problems
-coming from the tests and for �nish the undeveloped points of the feed.
+coming from the tests and for finish the undeveloped points of the feed.
-Sensor's shape and size. As viewed in section 6:2, Polyglove su�er
+===== Sensor's shape and size =====
 of some problems due to the improper shape and size of the PVDFs, prob-
 lems such the reciprocal disturb of the sensors.
 The sensors used have a rectangular shape of about 2:5 per 1 cm, and these
-shape is the cause of the problems. Piezoelectric �lm is available in a va-
+shape is the cause of the problems. Piezoelectric film is available in a va-
-riety of di�erent �lm sizes and thicknesses. These can be fabricated into
+riety of different film sizes and thicknesses. These can be fabricated into
 simple transducers, or for use as full size sheet for other application. This
 virgin sheets are available without electrodes attachments and wires. Start-
@@ Line 183: / Line 184: @@
 Reducing the sizes and customizing the shapes can solve the reciprocal dis-
 turb problem. By the way, this choice improve the glove performance, reduce
-the cost about sensors and make possible realize sensors for all the �ngers.
+the cost about sensors and make possible realize sensors for all the fingers.
-PVDF characterization. Another point that need to be complete
+===== PVDF characterization =====
 is the PVDFs characterization as sensors. The future works should be con-
-tinue the study on the PVDF skills and �nd a proper mathematical model
+tinue the study on the PVDF skills and find a proper mathematical model
 for transform the voltage level into position/motion informations.
 In order to complete the characterization, a secondary position system is
 needed. Several solutions are possible: mechanical structure with poten-
-tiometers, piezoresistive bend sensors, hall e�ect sensor and many others.
+tiometers, piezoresistive bend sensors, hall effect sensor and many others.
 Due to the only momently need of this system, the technology chosen is not
 very important, but design a structure that will not in
@@ Line 196: / Line 198: @@
 behaviors is the real goal of this future work.
 When the supporting system will be ready, the process of characterization
-will continue and the next step will be �nd a mathematical model for the
+will continue and the next step will be find a mathematical model for the
 sensor. A way for do this is constituted by the neural networks. This math-
 ematical model can help the characterization process. By the way, with the
 supporting position system the developing process of the networks will be
 automatized in his major part.
-CE polymers. Another future work is constituted by the piezoresis-
+===== CE polymers =====
 tive CE. How just said in the previous chapters, this polymer make possible
 realize a variable resistive circuit on the upper side of the hand. The future
@@ Line 208: / Line 211: @@
 The weakness of this polymer is the slowly change of resistence due to a
 movement. This skill make it perfect as statically position recognizer but
-make di�cult use it during the dynamic phases. Now the situation is: from
+make difficult use it during the dynamic phases. Now the situation is: from
-a side the fast and dynamic PVDF �lms and from the other the slow and
+a side the fast and dynamic PVDF films and from the other the slow and
 static CE silicons. Integrating the data from PVDFs and CEs can make
-possible realize the �nal position/motion feed system.
+possible realize the final position/motion feed system.
 By the way, the data coming through the CEs can be used directly into
 the PVDF's neural network realizing a unique mathematical model, or can
-be created two di�erent preprocessing models for the systems and a third
+be created two different preprocessing models for the systems and a third
-mechanism that take and merge data for the �nal use.
+mechanism that take and merge data for the final use.

@@ Line 152: / Line 152: @@
 the feedbacks will be ready, PolyGlove will need to something much articu-
 lated.
-The �rst need after have complete the feedbacks will be a solid commu-
+The first need after have complete the feedbacks will be a solid commu-
 nication protocol. When the Xbee will work as router for the modules,
 the communication protocol will be fundamental for the whole device. The
@@ Line 163: / Line 163: @@
 the hardware with the hight level software, in order to provide an easy way
 to write demos for the glove.
 ==== Position/Motion feed====
 How viewed from the tests, the part of position/motion feed developed need

@@ Line 113: / Line 113: @@
 space for the glove will be great. An other point that need to enhancements
 is the main architecture of the modules.
-In order to minimize the electrical circuits, di�erent technologies must be
+In order to minimize the electrical circuits, different technologies must be
 considered. The Pin Through Hole (PTH) technology is very useful for a
 fast prototyping, but need to much space and limit the complexity of the
@@ Line 122: / Line 122: @@
 the components, the boards need to less energy for work, components can
 be placed on both sides of the boards, reduce the costs and so on.
-An example of the capacity of SMT is presented in the upper �gure. The
+An example of the capacity of SMT is presented in the upper figure. The
 switching regulator and all his components can be "compressed", thanks to
 SMT, into a box smaller than a stamp. The gain in space is evident, this
@@ Line 129: / Line 129: @@
 for each feed/feedbacks. Every modules can be supplied by a microcontroller
 dedicated only to that purpose. Following this way, is possible to design the
-modules in a di�erent manner. For instance, the position/motion feed don't
+modules in a different manner. For instance, the position/motion feed don't
 need to a microcontroller so big like PIC18F2420, but it can be replaced by
 a smaller one.

@@ Line 101: / Line 101: @@
 === Future works ===
+==== SW Architecture ====
+At this point of the project, PolyGlove is not supplied by a proper software
-Just to give you some ideas:
+architecture, but it work only with simple MATLAB commands. MATLAB
-* state of the art;
+is surely the best choice for the prototyping phase of the project, but when
-* preliminary studies and sketches;
+the feedbacks will be ready, PolyGlove will need to something much articu-
-* design notes and guidelines;
+lated.
-* link to project documents and files (you can upload them using the [[Special:Upload]] page);
+The �rst need after have complete the feedbacks will be a solid commu-
-* description and results of experiments;
+nication protocol. When the Xbee will work as router for the modules,
-* photos and videos (they must have been uploaded with [[Special:Upload]] before you can insert them into this page);
+the communication protocol will be fundamental for the whole device. The
-* link to source code of the software written for the project (you can upload it with [[Special:Upload]]);
+protocol must be light, with a mechanism of errors control and stable. Poly-
-* advice about the configuration and the use of hardware and software;
+Glove, when ultimate, will need and will produce a great amount of data,
-* useful internet links;
+and this data will stream through the XBee.
-* anything else that you think is useful to describe the project or could help people who will work on it in the future. Think about what ''you'' would have liked to find clearly explained when you started your work, instead of discovering it all by yourself the hard way. (By the way, if some of those missing information belong to other pages of this wiki, please update those pages: future users will be grateful.)
+The second need of the glove will be a low level API for communicate with

@@ Line 39: / Line 39: @@
 === Introduction ===
-This thesis project can be collocated into the robotics �eld, that science that
+This thesis project can be collocated into the robotics field, that science that
-proposes itself to integrate, in intelligent manner, perception and action [12].
+proposes itself to integrate, in intelligent manner, perception and action.
-Into this �eld, the speci�c subarea of research is the haptic interfaces area,
+Into this field, the specific subarea of research is the haptic interfaces area,
 where are studied solutions to address the need of interacting with remote
-and virtual words [2], and in special way the project belongs to the body-
+and virtual words, and in special way the project belongs to the body-
 based haptic interfaces. Thats devices that use the user's body as the force
 reaction base and have the inherent characteristics of being mobile, and
@@ Line 49: / Line 49: @@
 The purpose of this thesis is design and build a dataglove able to overcame
 the borders of the actual haptic interfaces. These borders are linked to the
-technologies used for develop the interfaces, that make di�cult the integra-
+technologies used for develop the interfaces, that make difficult the integra-
 tion of force and tactile feedbacks into the same device. The main goal of
 the project is realize a device complete of force and tactile feedbacks, that
@@ Line 60: / Line 60: @@
 ==== Brief description of the work ====
 PolyGlove is the fruit of this research, a dataglove that base all his systems
-on the EAPs technology. The work did can be subdivided in several di�erent
+on the EAPs technology. The work did can be subdivided in several different
 .3. Structure of the thesis 2
 phase.
-The �rst step was a global design of the whole glove, or better, was �nd a
+The first step was a global design of the whole glove, or better, was find a
 realizable solution for all the systems needed without project it in the de-
 tails. For the position/motion feed is proposed the use of two polymers: a
-piezoelectric PVDF �lm, and a piezoresistive CE silicon. This polymers can
+piezoelectric PVDF film, and a piezoresistive CE silicon. This polymers can
-works as sensors, producing an electrical �eld (PVDF) or presenting changes
+works as sensors, producing an electrical field (PVDF) or presenting changes
 in resistence (CE). For the force feedback, is proposed a double solution of
 active and passive feedback. Pistons full of ERF polymers and linked to
-the hand's �ngers, can be driven in voltage in order to change the viscosity
+the hand's fingers, can be driven in voltage in order to change the viscosity
 of the
 uid and to favor or obstruct the movement passively. The active
-side of force feedback is constituted by arti�cial tendons made of elastomer
+side of force feedback is constituted by artificial tendons made of elastomer
 polymers. Concluding, the tactile feedback use PVDF as actuators in order
-to produce vibrations on the hand's palm. Special ciliary �ngertips based
+to produce vibrations on the hand's palm. Special ciliary fingertips based
 on IPMC can return a texture perception.
 In a second phase, the design and develop process of the glove is started from
-the posistion/motion feed system. A �rst prototype is constituted by a glove
+the posistion/motion feed system. A first prototype is constituted by a glove
 equipped with four PVDF sensors, a control system able to sampling the
 sensors and to send the results to the remote side via wireless connection.
-This control system is made by di�erent modules, in order to simplify the
+This control system is made by different modules, in order to simplify the
 prototyping phase and to allow the reuse of the single modules. The brain
 of the system is a PIC18F2420 microcontroller equipped of an external 12
@@ Line 89: / Line 89: @@
 When the prototype was ready, a phase of test on the glove is started. This
 tests were subdivided into hardware settings test, and sensor's characteriza-
-tion tests. The hardware tests make possible to �nd the proper con�guration
+tion tests. The hardware tests make possible to find the proper configuration
-of several parameters like frequency of sampling, �ltering and so on. While
+of several parameters like frequency of sampling, filtering and so on. While
 the practical tests have given results about sensor's behavior, showing good
 skills and evidencing some weak points of the system.
 At the end of this work, the critical conclusions have been made showing the
-good characteristics of piezoelectric �lms as motion sensors, and evidencing
+good characteristics of piezoelectric films as motion sensors, and evidencing
 the problems of the system. In order to complete the work, the basic guide-
-lines of the future works are presented. This guidelines explains how to �x
+lines of the future works are presented. This guidelines explains how to fix
 the problems and show the way of future developing works.

← Older revision		Revision as of 17:24, 30 September 2008
Line 35:		Line 35:

	== '''Part 2: project description''' ==		== '''Part 2: project description''' ==
		+
		+	[[Image:DSCN0522.JPG\|thumb\|right\|300px\|]]
		+
		+	=== Introduction ===
		+	This thesis project can be collocated into the robotics �eld, that science that
		+	proposes itself to integrate, in intelligent manner, perception and action [12].
		+	Into this �eld, the speci�c subarea of research is the haptic interfaces area,
		+	where are studied solutions to address the need of interacting with remote
		+	and virtual words [2], and in special way the project belongs to the body-
		+	based haptic interfaces. Thats devices that use the user's body as the force
		+	reaction base and have the inherent characteristics of being mobile, and
		+	therefore overcame the location dependency limitation.
		+	The purpose of this thesis is design and build a dataglove able to overcame
		+	the borders of the actual haptic interfaces. These borders are linked to the
		+	technologies used for develop the interfaces, that make di�cult the integra-
		+	tion of force and tactile feedbacks into the same device. The main goal of
		+	the project is realize a device complete of force and tactile feedbacks, that
		+	at the same time guarantees wearability, comfort and movement freedom.
		+	The keyword of the solutions design is EAP, or better, the electroactive
		+	polymers technology. These new materials are plastics and gels thats show
		+	mechanical behaviors due to an electrical stimulation, and vice versa. They
		+	can be used as new kind of sensors and actuators, making possible overcame
		+	the limits of traditional technologies.
		+	==== Brief description of the work ====
		+	PolyGlove is the fruit of this research, a dataglove that base all his systems
		+	on the EAPs technology. The work did can be subdivided in several di�erent
		+	1.3. Structure of the thesis 2
		+	phase.
		+	The �rst step was a global design of the whole glove, or better, was �nd a
		+	realizable solution for all the systems needed without project it in the de-
		+	tails. For the position/motion feed is proposed the use of two polymers: a
		+	piezoelectric PVDF �lm, and a piezoresistive CE silicon. This polymers can
		+	works as sensors, producing an electrical �eld (PVDF) or presenting changes
		+	in resistence (CE). For the force feedback, is proposed a double solution of
		+	active and passive feedback. Pistons full of ERF polymers and linked to
		+	the hand's �ngers, can be driven in voltage in order to change the viscosity
		+	of the
		+	uid and to favor or obstruct the movement passively. The active
		+	side of force feedback is constituted by arti�cial tendons made of elastomer
		+	polymers. Concluding, the tactile feedback use PVDF as actuators in order
		+	to produce vibrations on the hand's palm. Special ciliary �ngertips based
		+	on IPMC can return a texture perception.
		+	In a second phase, the design and develop process of the glove is started from
		+	the posistion/motion feed system. A �rst prototype is constituted by a glove
		+	equipped with four PVDF sensors, a control system able to sampling the
		+	sensors and to send the results to the remote side via wireless connection.
		+	This control system is made by di�erent modules, in order to simplify the
		+	prototyping phase and to allow the reuse of the single modules. The brain
		+	of the system is a PIC18F2420 microcontroller equipped of an external 12
		+	bit ADC, the wireless communications are guarantee by an XBee module,
		+	a switching voltage regulator manage the batteries and a customized sensor
		+	board process the sensors signals.
		+	When the prototype was ready, a phase of test on the glove is started. This
		+	tests were subdivided into hardware settings test, and sensor's characteriza-
		+	tion tests. The hardware tests make possible to �nd the proper con�guration
		+	of several parameters like frequency of sampling, �ltering and so on. While
		+	the practical tests have given results about sensor's behavior, showing good
		+	skills and evidencing some weak points of the system.
		+	At the end of this work, the critical conclusions have been made showing the
		+	good characteristics of piezoelectric �lms as motion sensors, and evidencing
		+	the problems of the system. In order to complete the work, the basic guide-
		+	lines of the future works are presented. This guidelines explains how to �x
		+	the problems and show the way of future developing works.
		+
		+	=== Future works ===



−	~~[[Image:DSCN0522.JPG\|thumb\|right\|300px\|]]~~

	Just to give you some ideas:		Just to give you some ideas: