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Tutorial

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2023:11


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Agata

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====== Robotic Skin ======
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===== Overview =====
This demo showcases the possibilities of the Robotic skin by using the Bhaptics vest. This demo aims to translate the physical touch on the robotics skin to the vibration of the motors in the vest.

===== Setup =====

=== 1. Check if the cables on the skin are connected properly ===
Use the "professional" visualization and connect the skin to the laptop using the provided cable. The cables should be connected correctly, to begin with - this is just a safety test.

{{:images:robotic_skin:cables.png?600|}}

**DO NOT DISCONNECT THE CABLES AFTER THE DEMO**

=== 2. Open the bHapticsPlayer and connect the vest ===
After opening the application ''bHapticsPlayer'' in the bottom left corner there will be information about the vest including the battery life. By selecting ''Device'' in the menu on the left-hand side and then ''Feedback Test'' you can check whether the vest is properly connected by selecting which motors should vibrate.

{{:images:robotic_skin:feedbacktest.png?500|}}

And testing the vibration of a single motor  (press pause to stop the vest from vibrating).

{{:images:robotic_skin:testmotors.png?500|}}

=== 3. Start skin analyser ===
Open the terminal and run the following line
<code>
java -jar "C:\Users\HMI Admin\UT_Skin\UT_skin\ProcessingTools\SkinAnalyser\SkinAnalyser.jar"
</code>

{{:images:robotic_skin:skinanalyser.png?600|}}

  * **RED** In the new window that opens, use ''Load config'' button at the bottom to load config EVETorso.noc In quick access: ''config_files -> EVETorso.noc''
  * **GREEN** Then check the port at the Serial Communication: if it's empty connect the skin to the laptop and press refresh 
  * **BLUE** If everything is ready, press the ''Render'' button on the top

{{:images:robotic_skin:configuration.png?300|}}

After pressing ''Render'' the following window will open.
 
{{:images:robotic_skin:renderempty.png?500|}}

=== 4. Run BHapticsSkinServer application ===

Via the File Explorer

Go to ''quick access -> Release ->  BHapticsSkinServer''

The resulting window should look as follows.

{{:images:robotic_skin:startserver.png?400|}}

=== 5. Connect vest to the skin ===

In the Renderer window press the ''Send to HapticSkinServer'' button

{{:images:robotic_skin:sendtohaptics.png?500|}}

The vest and the skin should be connected!

By pressing on the skin, you should see the white spots in the Renderer window, and the vest should vibrate in the correct places

Example: full hand pressing on the top of the skin

{{:images:robotic_skin:fullhand.png?500|}}

==== Calibration ====
If there are white artefacts appearing in the Renderer window when nothing is touching the skin, make sure that there is nothing touching the skin and press ''Launch Calibration''  on the bottom right corner. The white factors should disappear. 

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