S.N.A.K.E.: A Dynamically Reconfigurable Artificial Sensate Skin ...

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Chapter 6 Conclusions and Future Work “So long and thanks for all the fish.” – Doplhins to humans (Douglas Adams) We arrive to the last chapter, which presents the conclusions derived from the results presented before. First a summary of the work along with some general conclusions are presented. This is followed by a description of possible applications and future work. 6.1 Conclusions A Dynamically Adaptable Artificial Sensate Skin was designed. Based on the design goals proposed, 32 nodes were fabricated with Flex circuit technology. Half of these were assembled into two patches of skin of different sizes to test the two modes in which they can operate. Two Brains were also designed and developed so that data could be extracted from one of the patches. Finally several software components were developed for the sys- tem. These include a GUI application to serve as a front end to the Skin Patch network and several firmware applications to test the functionality of the skin as a stand-alone device. 141
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Author S.N.A.K.E.: A Dynamically Re
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S.N.A.K.E.: A Dynamically Reconfigu
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Table of Contents Abstract 3 Acknow
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List of Figures 2-1 Created by MIT
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E-1 OpenGL Control Header File . .
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Chapter 1 Introduction “Imaginati
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The current project, named S.N.A.K.
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Hardware Each Skin Patch is compose
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living tissue. Particularly in the
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Figure 2-2: Leonardo’s Hand great
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Artificial Sensate Skins elsewhere
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2.1.2 Ultra-dense Sensor Arrays Thi
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2.2 Flexible Circuits Although, not
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2.2.2 Other Technologies Figure 2-6
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human skin. The following design pr
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(a) Skin Patches as data extraction
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Figure 3-3: I 2 C Routing pattern T
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3.2.2 Peer to Peer As we already me
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5. Audio: by adding a MEMS micropho
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Table 3.1: Material thicknesses and
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(a) Node Front (b) Node Back Figure
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Figure 3-9: Skin Patch mechanical t
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used, which only further complicate
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8. Teardrops and filleting were add
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(a) 7.4V, 2.2mAh Li-ion Battery (b)
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in more detail in the Results Chapt
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has a 30mA forward current with a f
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Figure 3-14: Strain gage layer prot
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an unbalanced Wheatstone bridge, fr
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Figure 3-16: QTC response curve for
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(a) Prototype boards used to calibr
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whisker is epoxied to the package o
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Sound The only sensing modality add
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Figure 3-20: Brain regular PCB fabr
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3.4.3 Communications unit The Commu
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Chapter 4 Software “A Scientist d
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Networks. Why is this relevant? Mai
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Figure 4-1: Bootloader memory map C
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Bit Flag Name Description 0x01 FILE
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Figure 4-3: Sampling timing example
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Page 93 and 94: Component Description 1 Indicates t
Page 95 and 96: last chapter. Figure 4-5: Automatic
Page 97 and 98: An important point to stress is tha
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Page 101 and 102: 4.3 Communications Software The las
Page 103 and 104: 4.3.2 Peer to Peer Peer to peer com
Page 105 and 106: Chapter 5 Analysis of Results and E
Page 107 and 108: Figure 5-1: Stress concentration po
Page 109 and 110: of the assembled skin patch don’t
Page 111 and 112: Node SG1 SG2 R(X) R(Y) Δ(X) Δ(Y)
Page 113 and 114: Or, ∆R = R3 R3 R3 + RC (5.2) Howe
Page 115 and 116: R3 Microstrain 162Ω −99.7337969
Page 117 and 118: Figure 5-3: Strain Gage electronic
Page 119 and 120: (a) Data from both strain gages (b)
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Page 125 and 126: Data plots were also extracted for
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Page 129 and 130: Figure 5-12: Raw microphone data wi
Page 131 and 132: (a) Activity sensor data (b) Whiske
Page 133 and 134: 5.3 Performance Metrics We have pre
Page 135 and 136: (a) I 2 C data when a 1500Ωs resi
Page 137 and 138: Component # per node Current consum
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Page 145 and 146: Implement P2P Communications: curre
Page 147 and 148: Appendix A Abbreviations and Symbol
Page 149 and 150: Appendix B Bill of Materials 149
Page 151 and 152: Appendix C Schematics and PCB Layou
Page 153 and 154: 1 1 2 2 3 3 4 4 D D C C B B A A Tit
Page 155 and 156: Amp1 P0Amp101 P0Amp102 P0Amp103 P0A
Page 157 and 158: P0Cin02 P0East06 P0North06 P0South0
Page 159 and 160: Cain P0C ain01 P0Cain02 L1 P0L101 P
Page 161 and 162: Figure C-10: Node Bottom Overlay 16
Page 163 and 164: 4 3 2 1 A A Brain Communications Ac
Page 165 and 166: C3v P0C3v01 P0C3v02 Cavcc P0Cavcc01
Page 167 and 168: Appendix D Firmware 167
Page 169 and 170: C:\Documents and Settings\Gerardo\M
Page 183 and 184: Appendix E PC Code 183
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4 c:\Documents and Settings\Gerardo
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12 c:\Documents and Settings\Gerard
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Bibliography [1] John C. Ansel. Ski
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[33] Joseph Jacobson, B Comiskey, C
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[68] Vilis Tutis. The physiology of
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