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

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S.N.A.K.E.: A Dynamically Reconfigurable Artificial Sensate Skin by Gerardo Barroeta Pérez The following people served as readers for this thesis: Thesis Reader Thesis Reader V. Michael Bove Principal Research Scientist Program in Media Arts and Sciences Cynthia Breazeal Associate Professor of Media Arts and Sciences MIT Media Lab 5
Page 1: Author S.N.A.K.E.: A Dynamically Re
Page 7: Acknowledgments To Joe Paradiso for
Page 10 and 11: 3.4.3 Communications unit . . . . .
Page 12 and 13: 4-7 Programming packet . . . . . .
Page 15: List of Tables 3.1 Material thickne
Page 18 and 19: (hotness or coolness), mechanorecep
Page 20 and 21: Chapter 4 talks about the different
Page 23 and 24: Chapter 2 Artificial Sensate Skins
Page 25 and 26: Figure 2-1: Created by MIT Media La
Page 27 and 28: Figure 2-3: Pushpin Computing Platf
Page 29 and 30: (a) Sensitive Skin by Lumelsky (b)
Page 31 and 32: (a) Sensor Matrix by Someya (b) Cap
Page 33 and 34: it will determine its final mechani
Page 35 and 36: Chapter 3 Hardware “Inanimate obj
Page 37 and 38: different sensing modalities will a
Page 39 and 40: It is clear that a serial protocol
Page 41 and 42: Figure 3-4: I 2 C Active pull-up de
Page 43 and 44: (a) Flex Node Front (b) Flex Node B
Page 45 and 46: Figure 3-6: Node substrate material
Page 47 and 48: Figure 3-7: Flex circuit cost as a
Page 49 and 50: Mechanical Design Once cost issues
Page 51 and 52: Figure 3-10: Node with electrical c
Page 53 and 54: (a) Rigidized center (b) Aligned co
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shape in which the nodes are connec
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(a) MSP430F1610 QFN Package (b) FFC
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its better balance between Gain-Ban
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the substrate at the time of fabric
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therefore defines its stability. Ov
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Figure 3-15: Wheatstone bridge used
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which are localized. QTC sensors ar
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(a) Mini-sense cantilever with whis
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Figure 3-19: Toshiba TPS851/52 Ambi
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tasks, one of the inherent design t
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the nodes faster than what the bus
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a USB hub is needed. Although in th
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A key point in the design of the Ov
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How much memory is there available
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Figure 4-2: Bootloader Flow Chart 8
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flag 0x80 indicates a successful wr
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Sensor Type Sampling Rate Bit Depth
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the environment, the less active th
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4.2 PC Graphical User Interface The
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the USB device into a regular seria
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Figure 4-6: GUI Programming Environ
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control was added to change the num
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Once the process is stopped, the fi
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arbitrarily assigned. In the specif
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4.3.3 USB The last part of the comm
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of the design greatly affected seve
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Figure 5-2: Skin Patch bending prof
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sampling, along with some images of
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with the strain gages to match thei
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R3 RC 162Ω 809838Ω 165Ω 82483
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Node #004 − 3 SG1 (matched to 169
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(a) Data from strain gage 1 (b) Dat
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Figure 5-6: Pressure sensor calibra
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(a) Data from working pressure sens
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(a) No ambient light present; singl
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(a) Ambient Light sensor data from
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first of all this is highly undesir
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Proximity/Motion Sensing The last s
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To demonstrate the functionality of
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Because the amount of capacitance i
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or 12475 bytes every second. The US
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So in average, the strain gages con
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140
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Generally speaking, several goals o
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Code Distribution: a very simple me
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whenever the Skin Patch topology is
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MIPS Million Instructions Per Secon
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Node components Type Name Part Numb
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4 3 2 1 A A Node Sensing Suite Soun
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Amp1 P0Amp101 P0Amp102 P0Amp103 P0A
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Amp1 P0Amp101 P0Amp102 P0Amp103 P0A
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P0Amp405 P0Rsda01 P0Rscl01 P0U503 P
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Figure C-9: Node Top Overlay 160
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4 3 2 1 A A Brain Processing and Ac
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Figure C-13: Brain Dimensions (mils
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P0Cxu102 P0Cxu202 P0Cavcc01 P0Ravcc
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C:\Documents and Settings\Gerardo\M
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2 c:\Documents and Settings\Gerardo
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c:\Documents and Settings\Gerardo\M
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10 c:\Documents and Settings\Gerard
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[13] Ken Gilleo. Handbook of Flexib
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[50] Joseph A. Paradiso, Joshua Lif
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