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Tutorial

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23/11/2024

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Joris

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====== Manual for Setting Up the Robotic Skin Demo ======

This manual provides detailed instructions to set up and run the demo of the **robotic skin** integrated with the **BHaptics Vest X40**. Follow the steps carefully to ensure a successful demonstration.

{{:images:robotic_skin:haptic_skin.jpg?400|Haptic Skin]}}

===== Materials Required =====

  * **BHaptics Vest X40**
  * **Robotic Skin with Arduino**
  * **USB Bluetooth Dongle** (included with the BHaptics Vest)
  * **Computer** with Windows
  * **USB Cables** for connections

===== Software Requirements =====

  * **Python 3.9** or higher ([[https://www.python.org/downloads/|Python website]])
  * **Python Packages**: `numpy`, `opencv-python`, `pyserial`
  * **BHaptics Player:** [[https://www.bhaptics.com/software/player/|BHaptics Website]]
  * **Haptic Skin Software:** {{:images:robotic_skin:skin_demo.zip|direct download}}

----

===== Hardware Setup =====

==== Connecting the Robotic Skin to the Arduino ====

**Wiring the Connections**:
    - The robotic skin has **six pins**, but only **four are used** for the connection.
    - Refer to the provided schematic diagram or image for accurate wiring.
    - Connect the corresponding pins of the robotic skin to the Arduino.
{{:images:robotic_skin:skin-arduino-pins.png?300|}}

==== Connecting the BHaptics Vest ====

  - **Insert the USB Bluetooth Dongle**:
    - Plug the dongle into a USB port on your computer.
    - Wait for the computer to recognize and install any necessary drivers.
  - **Power On the Vest**:
    - Turn on the BHaptics Vest using the power button.
    - Ensure the vest is charged or connected to a power source.

----

===== Software Installation =====

==== Install Python and Required Packages ====

  - **Download Python**:
    - Visit the [[https://www.python.org/downloads/|official Python website]] and download Python 3.9 or higher.
    - Install Python, ensuring you select the option to **Add Python to PATH** during installation.
  - **Install Python Packages**:
    - Open Command Prompt or Terminal.
    - Run the following commands to install the necessary packages:

      pip install numpy opencv-python pyserial

==== Install BHaptics Player ====

  - **Download BHaptics Player**:
    - Visit the [[https://www.bhaptics.com/software/player/|official BHaptics website]] and download the BHaptics Player.
  - **Install the Software**:
    - Run the installer and follow the on-screen instructions.
    - Complete the installation process.

----

===== Running the Demo =====

==== Starting the BHaptics Player ====

  - **Launch the BHaptics Player**:
    - Open the BHaptics Player application on your computer.
  - **Pair the Vest**:
    - Click on the **"Scan"** button located at the top-right corner.
    - A side menu will appear showing available devices.
    - Select your **BHaptics Vest** from the list and click **"Pair"**.
{{:images:robotic_skin:pair_vest.png?600)|Pair Vest}}
  - **Test the Vest**:
    - Navigate to **"Device"** in the left menu.
    - Select **"Feedback Test"** to ensure the vest is functioning properly.
    - If the vest responds to the test, proceed to the next step.
{{:images:robotic_skin:test_feedback.png?600)|Test Vest Feedback}}

==== Starting the Skin Server ====

*Note: The skin server requires the BHaptics Player and vest to be running properly.*

There are two methods to start the skin server:

=== Method 1: Using the `run_demo.ps1` Script ===

  - **Run the Script**:
    - Locate the `run_demo.ps1` script file in your project folder.
    - Right-click on the file and select **"Run with PowerShell"**.
    - Two windows will open:
      - **BHapticsSkinServer Window**: This window can be minimized.
      - **Demo Configuration**: Follow the instructions to start the demo.
{{:images:robotic_skin:start_the_demo.png?600)|Successful Start}}

=== Method 2: Manually Starting the Server and Script ===

  - **Start the BHapticsSkinServer**:
    - Run the `BHapticsSkinServer.exe` application.
  - **Open Command Prompt in Folder**:
    - Navigate to the folder containing `view_skin.py`.
    - Right-click inside the folder while holding the `Shift` key.
    - Select **"Open PowerShell window here"** or **"Open Command Prompt here"**.
  - **Run the Command**:
    - Enter the following command (make sure to fill in the correct COM port):

      py view_skin.py 127.0.0 COM? y none

{{:images:robotic_skin:skin_touch_visualization.png?300|Skin Visualization}}

**Note**: If you choose to record the input, the script will end when the skin is no longer touched. For continuous demo purposes, it's recommended to choose not to record.
----

===== Troubleshooting =====

**Vest Not Pairing**:
  * Ensure the USB Bluetooth dongle is properly connected.
  * Restart the BHaptics Player and the vest.
  * Check for any Bluetooth conflicts with other devices.

**Arduino Not Recognized**:
  * Verify the USB cable connection between the Arduino and computer.
  * Install or update the Arduino drivers from the [official Arduino website](https://www.arduino.cc/en/software).

**Skin Input Not Detected**:
  * Double-check the wiring between the robotic skin and Arduino.
  * Confirm that the correct COM port is selected.
  * Ensure the Arduino sketch is correctly uploaded.
  * 
**Script Errors**:
  * Ensure all Python packages are installed.
  * Check for typos in the command line arguments.
  * Run the command prompt or PowerShell as an administrator if necessary.

**Crucial Setup Order for Success**:
  - **Start the BHaptics Player**: Launch the BHaptics Player application on your computer.
  - **Pair the BHaptics Vest**: Ensure the vest is paired and functioning through the **"Feedback Test"**.
  - **Start the Skin Server**: Use one of the two methods described earlier to run the `BHapticsSkinServer`.
  - **Run the `view_skin.py` Script**: Ensure all required arguments are correct and follow the appropriate command sequence.

----

===== Contact & Collaborations =====

The lead researcher for this project is [[https://www.utwente.nl/en/eemcs/hmi/hmi-people-pages/|Camile Sallaberry]]. For any questions, please feel free to contact him.


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