haptic arm: lego nxt + wiimote

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Topic: haptic arm: lego nxt + wiimote (Read 1461 times)

epokh

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haptic arm: lego nxt + wiimote

« on: June 03, 2008, 07:16:55 PM »

Hi guys,
we are having fun in my lab with wii and lego nxt.
What we did is to drive a robotic arm (builded using lego nxt) with the wiimote.
You stripe 2 wiimote one on your forearm and one on the arm.
The kinematic and dynamic is then applied to the robotic arm.
We used a bunch of python scrupt on a linux box with a bluetooth dongle.
At the moment is a bit clampsy, but we are working on it.
We want also to simulate the touch feedback but atm some troubles Grin


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Mark van 't Hooft

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Re: haptic arm: lego nxt + wiimote

« Reply #1 on: June 05, 2008, 03:49:43 AM »

Now that's an interesting use of the WiiMote. Any chance you can post some pictures here of what you're doing?


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Mark van 't Hooft
Tech Specialist/Researcher
Kent State University
Research Center for Educational Technology
Kent, OH
USA

Graham

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Re: haptic arm: lego nxt + wiimote

« Reply #2 on: June 05, 2008, 01:49:33 PM »

Definitely sounds cool and it would be great to see something.

Have you check the work by Johnny Lee, PhD student at Carnegie Mellon?

http://www.handheldlearning.co.uk/component/option,com_smf/Itemid,58/topic,1308.0


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epokh

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Re: haptic arm: lego nxt + wiimote

« Reply #3 on: June 05, 2008, 03:40:01 PM »

hah yes he is my idol (he was also at the TED) but I'm using none of his libraries:
the interface with the laptop is made by bluetooth and python.
The control is a bit noisy using a simple LSM inverse dynamic model.
Hmm it takes a bit longer then expected but I like the challenge Wink


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epokh

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Re: haptic arm: lego nxt + wiimote

« Reply #4 on: June 05, 2008, 10:52:02 PM »

I make some video with my mobile phone (the resolution and quality is soo bad).
It shows how I'm driving the nxt motor using the wii controller bridged to my laptop by bluetooth.
www.quebbyworld.com/wii/wiinxt.zip


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Graham

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Re: haptic arm: lego nxt + wiimote

« Reply #5 on: June 06, 2008, 05:59:11 AM »

Hi Paolo

If you load your video to Youtube or any of the main video sharing networks (even BBC iPlayer files now work!) you can play the video straight from these forum's by simply adding the link (our voodoo does all the rest Wink

)

G