Difference between revisions of "PolyGlove: a body-based haptic interface"
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=== Introduction === | === Introduction === | ||
| − | This thesis project can be collocated into the robotics | + | This thesis project can be collocated into the robotics field, that science that |
| − | proposes itself to integrate, in intelligent manner, perception and action | + | proposes itself to integrate, in intelligent manner, perception and action. |
| − | Into this | + | 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 | where are studied solutions to address the need of interacting with remote | ||
| − | and virtual words | + | 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 | 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 | 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 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 | the borders of the actual haptic interfaces. These borders are linked to the | ||
| − | technologies used for develop the interfaces, that make | + | 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 | 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 | the project is realize a device complete of force and tactile feedbacks, that | ||
| Line 60: | Line 60: | ||
==== Brief description of the work ==== | ==== Brief description of the work ==== | ||
PolyGlove is the fruit of this research, a dataglove that base all his systems | 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 | + | on the EAPs technology. The work did can be subdivided in several different |
1.3. Structure of the thesis 2 | 1.3. Structure of the thesis 2 | ||
phase. | phase. | ||
| − | The | + | 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- | 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 | tails. For the position/motion feed is proposed the use of two polymers: a | ||
| − | piezoelectric PVDF | + | piezoelectric PVDF film, and a piezoresistive CE silicon. This polymers can |
| − | works as sensors, producing an electrical | + | works as sensors, producing an electrical field (PVDF) or presenting changes |
in resistence (CE). For the force feedback, is proposed a double solution of | 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 | active and passive feedback. Pistons full of ERF polymers and linked to | ||
| − | the hand's | + | the hand's fingers, can be driven in voltage in order to change the viscosity |
of the | of the | ||
uid and to favor or obstruct the movement passively. The active | uid and to favor or obstruct the movement passively. The active | ||
| − | side of force feedback is constituted by | + | side of force feedback is constituted by artificial tendons made of elastomer |
polymers. Concluding, the tactile feedback use PVDF as actuators in order | polymers. Concluding, the tactile feedback use PVDF as actuators in order | ||
| − | to produce vibrations on the hand's palm. Special ciliary | + | to produce vibrations on the hand's palm. Special ciliary fingertips based |
on IPMC can return a texture perception. | on IPMC can return a texture perception. | ||
In a second phase, the design and develop process of the glove is started from | In a second phase, the design and develop process of the glove is started from | ||
| − | the posistion/motion feed system. A | + | 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 | 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. | sensors and to send the results to the remote side via wireless connection. | ||
| − | This control system is made by | + | 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 | 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 | 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 | 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- | tests were subdivided into hardware settings test, and sensor's characteriza- | ||
| − | tion tests. The hardware tests make possible to | + | tion tests. The hardware tests make possible to find the proper configuration |
| − | of several parameters like frequency of sampling, | + | of several parameters like frequency of sampling, filtering and so on. While |
the practical tests have given results about sensor's behavior, showing good | the practical tests have given results about sensor's behavior, showing good | ||
skills and evidencing some weak points of the system. | skills and evidencing some weak points of the system. | ||
At the end of this work, the critical conclusions have been made showing the | At the end of this work, the critical conclusions have been made showing the | ||
| − | good characteristics of piezoelectric | + | good characteristics of piezoelectric films as motion sensors, and evidencing |
the problems of the system. In order to complete the work, the basic guide- | 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 | + | lines of the future works are presented. This guidelines explains how to fix |
the problems and show the way of future developing works. | the problems and show the way of future developing works. | ||
Revision as of 18:27, 30 September 2008
Part 1: project profile
Project name
PolyGlove: a body-based haptic interface
Project short description
PolyGlove is a new kind of haptic interfaces, that try to overcome the borders of the present datagloves exploiting the EAP technology. This glove belongs to the body-based haptic interfaces, interfaces that use the user's body as force reaction base. EAPs, or better electroactive polymers, are materials that exhibit physical behaviors in response to an electrical stimulation, or vice versa, return an electrical signal in response to a physical stimulus. These materials can work as sensors and actuators, and thanks to their skills they can represent a solution at the previously mentioned limits. In this paper is presented the synthesis of a work where the EAP technology is applied into the haptic interfaces field.
People involved
Project head(s)
Prof.ssa Giuseppina Gini - User:GiuseppinaGini
Other Politecnico di Milano people
Ing. Paolo Belluco - User:PaoloBelluco
Students currently working on the project
Gabriele Valentini - User:GabrieleValentini
Part 2: project description
Introduction
This thesis project can be collocated into the robotics field, that science that proposes itself to integrate, in intelligent manner, perception and action. 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, 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 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 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 different 1.3. Structure of the thesis 2 phase. 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 film, and a piezoresistive CE silicon. This polymers can 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 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 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 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 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 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 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 find the proper configuration 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 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 fix the problems and show the way of future developing works.
Future works
Just to give you some ideas:
- state of the art;
- preliminary studies and sketches;
- design notes and guidelines;
- link to project documents and files (you can upload them using the Special:Upload page);
- description and results of experiments;
- photos and videos (they must have been uploaded with Special:Upload before you can insert them into this page);
- link to source code of the software written for the project (you can upload it with Special:Upload);
- advice about the configuration and the use of hardware and software;
- useful internet links;
- 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.)
