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Wearable Intertace for Teleoperation of Robot Arms - WITRA

 
[Update 18] WITRA's hardware - final version
Update #10152  |  23 Dec 2014
 

What WITRA is now

We got to our last version of WITRA. After several improvements and updates, WITRA has now a final form. It consists of:

  • Three inertial sensors (IMUs)
  • One on/off button
  • One 9V battery
  • Toradex Colibri + Iris
  • One WiFi USB adapter
Each inertial sensor is positioned at one important section of the human arm + hand. Thus, each inertial sensor is used to measure the spatial orientation of one section: upper-arm, forearm and hand, since the inertial sensor outputs its value of YAW, PITCH and ROLL. That means that the angles of rotation of each joint of the human arm (shoulder, elbow, wrist) are calculated. The positioning of the sensors is shown below:
 
hardware
 

WITRA's schematic

The next figure shows how each of the componets is connected with one another. We use the X16 pin group to connect the three IMUs over serial interface. The on/off button is connected to GPIO SODIMM 133, which reads high or low. The power supply can be a wall adaptor or the 9V battery used here for practicity. On Iris's usb port, a WiFi USB Adapter is connected, so that data can be sent wirelessly to the robot's server and control unit. The latter consists of a PC in which SCARA's code runs, as well as a control unit, to which 4 EPOS [1] are connected, each one controling a SCARA motor (DoF) over a CAN network. 

final-hardware

Finally, you can see in details next which pins are user from the X16 connector on Iris. Since there is only one 3.3V pin, all the IMUs are connected to this pin, as well as to the adjacent GND pin. 

To sum up, WITRA has a very simple concept and, thus, consists of a quite simple interface. Feel free to ask further questions about the hardware, by contacting me. 

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