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PaxPowerGlove_en

日本語ページはこちら。

I want to touch objects in virtual space.

So I set motion sensor in PAX Power Glove, a legendary NES controller, to control the movement of my hand in the virtual space of Unity .

The original Power Glove generate ultrasonic waves from the two ultrasonic transducers at different times to realize the motion capture.

That idea was great. But it lacked accuracy. So I decided to use motion sensor.

I used only flex sensor, out of original components.

So I set motion sensor in PAX Power Glove, a legendary NES controller, to control the movement of my hand in the virtual space of Unity .

I made that with following　procedure.

  1. getting value of bending of fingers.
  2. detecting the movement of my hand with motion sensor.
  3. Integrating 1 and 2.
  4. communication by XBee.
  5. Integrating 3 and 4.
  6. realizing haptics with vibration motor.
  7. Integrating 5 and 6.

Materials​

Hardware​

Item
Arduino
PowerGlove
Resistance (100k ohm * 4)
MPU-9150

Sfotware​

|Item| |---|---| |Arduino IDE| |Unity| |I2C Device Library| |C# script for Unity3d|

Step 1: detecting the movement of my hand with motion sensor.​

Hardware​

  1. Remove solder. Take off wires from board.
  2. Connect red wires to GND. .1 Connect Other wires to resistance to Arduino's 5V. Connect Analog input between wire and resistance.
fingerwireanalog input
thumbblueA0
index fingerblackA1
middle fingerwhiteA2
ring fingerbrownA3
littte fingerno wire-

曲げセンサは出力が抵抗値なので、同程度の抵抗器を使うことで抵抗値→電圧値に変換してArduinoに入力する、という回路が上記です。

Software​

  1. Write following sketch to Arduino.

Arduino sketch​

int fingers[4];

void setup() {
  Serial.begin(9600);
}

void loop() {
  int i;
  fingers[0] = constrain(map(analogRead(A0), 678, 760, 0, 10), 0, 10) * 10;
  fingers[1] = constrain(map(analogRead(A1), 835, 935, 0, 10), 0, 10) * 10;
  fingers[2] = constrain(map(analogRead(A2), 770, 905, 0, 10), 0, 10) * 10;
  fingers[3] = constrain(map(analogRead(A3), 750, 910, 0, 10), 0, 10) * 10;

  for (i = 0; i < 4; i++) {
    Serial.print("finger");
    Serial.print(i);
    Serial.print(":");
    Serial.print(fingers[i]);
    Serial.print("\t");
  }
  Serial.println();
  delay(200);
}

NOTE: resistance may be different with your PowerGlove.

Step 2: detecting the movement of my hand with motion sensor.​

for details, see モーションセンサ . (written in Japanese)

Step 3: Integrating 1 and 2.​

Hardware​

  1. Integrate circuit of 1 and 2.

Software(1)：Arduino sketch​

  1. Modify sketch, which you made at モーションセンサ .
  2. Modify line 286-297.
        #ifdef OUTPUT_READABLE_QUATERNION
            // display quaternion values in easy matrix form: w x y z
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            Serial.print("quat\t");
            Serial.print(q.w);
            Serial.print("\t");
            Serial.print(q.x);
            Serial.print("\t");
            Serial.print(q.y);
            Serial.print("\t");
-            Serial.println(q.z);
+            Serial.print(q.z);
+            Serial.print("\t");
+            Serial.print(constrain(map(analogRead(A0), 678, 760, 0, 10), 0, 10) * 6);
+            Serial.print("\t");
+            Serial.print(constrain(map(analogRead(A1), 835, 935, 0, 10), 0, 10) * 6);
+            Serial.print("\t");
+            Serial.print(constrain(map(analogRead(A2), 770, 905, 0, 10), 0, 10) * 6);
+            Serial.print("\t");
+            Serial.println(constrain(map(analogRead(A3), 750, 910, 0, 10), 0, 10) * 6);
        #endif

ソフトウェアの準備(2)：Unityプロジェクト​

  1. Download following zip, and open PaxPowerGlove.unity.

PaxPowerGloveUnity.zip

Step 4: communication by XBee.​

for details, see XBee . (written in Japanese)

Step 5: Integrating 3 and 4.​

さあついに、上記3と4を統合します。

  1. Modify Arduino sketch.
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
-        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
+        TWBR = 12; // for Arduino Fio
    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
-    Serial.begin(115200);
+    Serial.begin(57600); // for Arduino Fio

Step 6: realizing haptics with vibration motor.​

Hardware​

Software​

W.I.P.

char c = Serial.read();
if (c != -1) {
  c -= '0';
  for (int i = 0; i < 5; i++) {
    if ((c & 0b00010000) != 0) {
        digitalWrite(3, HIGH);
    }
    if ((c & 0b00001000) != 0) {
        digitalWrite(4, HIGH);
    }
    if ((c & 0b00000100) != 0) {
        digitalWrite(5, HIGH);
    }
    delay(7);
    digitalWrite(3, LOW);
    digitalWrite(4, LOW);
    digitalWrite(5, LOW);
    if ((c & 0b00000010) != 0) {
        digitalWrite(6, HIGH);
    }
    if ((c & 0b00000001) != 0) {
        digitalWrite(7, HIGH);
    }
    delay(7);
    digitalWrite(6, LOW);
    digitalWrite(7, LOW);
  }
}

Step 7: Integrating 5 and 6.​

W.I.P.

Prototypes​

Reference​