Haptics-Assisted iNversions Device (HAND)

Schematics and firmware for haptics-embedded palmless, fingerless gloves and software for SensingTex pressure mats

The Gloves

Schematics

Schematics for the gloves can be found in the "Technical Docs" folder under "Gloves_battery_schem.png" and "Gloves_battery_bb.png".

Firmware

Firmware for the gloves can be found in the "Software/Arduino" folder. In Arduino, the board is considered a "Generic ESP8266 Module" and is part of the "ESP8266 Boards" library.

Mat Software

The mat software is written in Python3 and can be found in the "Software" folder.

Dependencies

The HAND Library

• sys
• time
• matplotlib.pyplot
• numpy
• sklearn.cluster
• flask
• serial.tools.list_ports

Testing

• os
• unittest

The HAND Library

The software is broken down into several files to create a HAND library.

Mat.py

• contains a Mat class which sets up and processes data from the SensingTex mat

Hands.py

• contains a Hand and a Hands class which process mat data to find and separate the two hands, determine centers of pressure, create a correction vector, and determine which actuators to activate

Actuators.py

• contains an Actuator and an Actuator_manager class which allow for easy actuator setup and interaction

hand_utils.py

• contains useful general functions used by other files in the library

haptic_assisted_inversions_device.py

• executable file to run the HAND software

Testing

The "Testing" folder contains files helpful for testing the HAND library.

haptic_assisted_inversions_device_test.py

• contains unittest test cases for the HAND library

hands.npy

• contains a numpy array snapshot of data received from a Mat object.

hands.txt

• same data contained in "hands.npy" but as a simple array within a text file without the numpy array formatting