Tutorial

23/11/2024

Joris




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.

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

Hardware Setup

Connecting the Robotic Skin to the Arduino

Wiring the Connections:

  1. The robotic skin has six pins, but only four are used for the connection.
  2. Refer to the provided schematic diagram or image for accurate wiring.
  3. Connect the corresponding pins of the robotic skin to the Arduino.

Connecting the BHaptics Vest

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

Software Installation

Install Python and Required Packages

  1. Download Python:
    1. Visit the official Python website and download Python 3.9 or higher.
    2. Install Python, ensuring you select the option to Add Python to PATH during installation.
  2. Install Python Packages:
    1. Open Command Prompt or Terminal.
    2. Run the following commands to install the necessary packages:
    pip install numpy opencv-python pyserial

Install BHaptics Player

  1. Download BHaptics Player:
    1. Visit the official BHaptics website and download the BHaptics Player.
  2. Install the Software:
    1. Run the installer and follow the on-screen instructions.
    2. Complete the installation process.

Running the Demo

Starting the BHaptics Player

  1. Launch the BHaptics Player:
    1. Open the BHaptics Player application on your computer.
  2. Pair the Vest:
    1. Click on the “Scan” button located at the top-right corner.
    2. A side menu will appear showing available devices.
    3. Select your BHaptics Vest from the list and click “Pair”.

Pair Vest

  1. Test the Vest:
    1. Navigate to “Device” in the left menu.
    2. Select “Feedback Test” to ensure the vest is functioning properly.
    3. If the vest responds to the test, proceed to the next step.

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

  1. Run the Script:
    1. Locate the `run_demo.ps1` script file in your project folder.
    2. Right-click on the file and select “Run with PowerShell”.
    3. Two windows will open:
      1. BHapticsSkinServer Window: This window can be minimized.
      2. Demo Configuration: Follow the instructions to start the demo.

Successful Start

Method 2: Manually Starting the Server and Script

  1. Start the BHapticsSkinServer:
    1. Run the `BHapticsSkinServer.exe` application.
  2. Open Command Prompt in Folder:
    1. Navigate to the folder containing `view_skin.py`.
    2. Right-click inside the folder while holding the `Shift` key.
    3. Select “Open PowerShell window here” or “Open Command Prompt here”.
  3. Run the Command:
    1. Enter the following command (make sure to fill in the correct COM port):
    py view_skin.py 127.0.0 COM? y none

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:

  1. Start the BHaptics Player: Launch the BHaptics Player application on your computer.
  2. Pair the BHaptics Vest: Ensure the vest is paired and functioning through the “Feedback Test”.
  3. Start the Skin Server: Use one of the two methods described earlier to run the `BHapticsSkinServer`.
  4. 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 Camile Sallaberry. For any questions, please feel free to contact him.