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Erwan Normand
2024-09-29 14:09:31 +02:00
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3-manipulation/visuo-haptic-hand/2-method.tex
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@@ -83,14 +83,14 @@ This design led to a total of 5 vibrotactile positionings \x 2 vibration contact
\subsection{Apparatus and Procedure}
\label{apparatus}
Apparatus and experimental procedure were very similar to the \chapref{visual_hand}, as described in \secref[visual_hand]{apparatus} and \secref[visual_hand]{protocol}, respectively.
Apparatus and experimental procedure were similar to the \chapref{visual_hand}, as described in \secref[visual_hand]{apparatus} and \secref[visual_hand]{protocol}, respectively.
We report here only the differences.
We employed the same vibrotactile device used by \cite{devigne2020power}.
It is composed of two encapsulated \ERM (\secref[related_work]{vibrotactile_actuators}) vibration motors (Pico-Vibe 304-116, Precision Microdrive, UK).
They are small and very light (\qty{5}{\mm} \x \qty{20}{\mm}, \qty{1.2}{\g}) actuators capable of vibration frequencies from \qtyrange{120}{285}{\Hz} and
They are small and light (\qty{5}{\mm} \x \qty{20}{\mm}, \qty{1.2}{\g}) actuators capable of vibration frequencies from \qtyrange{120}{285}{\Hz} and
amplitudes from \qtyrange{0.2}{1.15}{\g}.
They have a latency of \qty{20}{\ms} that we partially compensated for at the software level with slightly larger colliders to trigger the vibrations very close the moment the finger touched the cube.
They have a latency of \qty{20}{\ms} that we partially compensated for at the software level with slightly larger colliders to trigger the vibrations close the moment the finger touched the cube.
These two outputs vary linearly together, based on the tension applied.
They were controlled by an Arduino Pro Mini (\qty{3.3}{\V}) and a custom board that delivered the tension independently to each motor.
A small \qty{400}{mAh} Li-ion battery allowed for 4 hours of constant vibration at maximum intensity.