Haptic Robot IO

Presentation:

HIO teaching aid for implementing a virtual reality interface.

The student is both user and programmer.

Python programming, remotely, via the Spyder IDE: use of Python function libraries (provided) to dictate the behavior of the interface.

Connection can be set up in Python, according to different protocols such as the Internet Protocol or the Bluetooth protocol.

The haptic interface becomes a connected smart object.

As a user, the student can validate the behavior and performance of the interface and physically feel the virtual behavior they have implemented.

Autonomous and open haptic human-machine interface: controlled by a microcomputer (Raspberry Pi).

Requires the use of fundamental algorithms in numerical methods and interfacing via network protocols.

Technical solutions addressed:

Connected Intelligent Haptic Interface:

• Human-machine interface with three degrees of freedom, equipped with three incremental encoders and three motors,
• Control board (Raspberry Pi) configured for remote programming in Python, including all necessary libraries,
• USB-RJ45 adapter for connecting the student's PC to the interface.

Digital support including:

• Educational activity suggestions in Word format;
• The Spyder programming environment;
• The commissioning and user manual;
• Documentation for the interface programming library;
• Examples of virtual environments using the programming library.

Educational Activities:

Algorithms

• Conditional statements: Boolean expressions and simple logical operators, if statement. Variants with alternatives (else).
• Iterative instructions: for loops, conditional while loops.
• Functions: concept of a function (in the computer science sense), definition in the language used, parameters (or arguments) and results, scope of variables.
  

Digital engineering and simulation

• Software libraries: use of some library functions and their online documentation.
• Stationary problem: solution using Newton's method.
• Dynamic problem: approximate solution of an ordinary differential equation using Euler's method.
• Multidimensional linear problem: solution using Gauss's method.

Key features:

HIO teaching aid for implementing a virtual reality interface.

The student is both user and programmer.

Autonomous and open haptic human-machine interface: controlled by a microcomputer (Raspberry Pi)

Reference:

SHAP : Haptic Robot

SHAP-CPGE: Haptic Robot Set for CPGE activities

SHAPIO: Haptic robot with Python development kit

SHAPARD: Option: Haptic Robot Project with ARDUINO board.

SHAP-BM: Option: Haptic robot instrumentation bench for CPGE applications (without robot)

SHAPRS: Option: Non-educational Haptic Robot