From: Thomas Pietrzak Date: Mon, 14 Feb 2022 17:29:33 +0000 (+0100) Subject: Apparatus X-Git-Tag: first-full-draft~61 X-Git-Url: https://git.thomaspietrzak.com/?a=commitdiff_plain;h=9636bd34eceb6a35e16893edb20593892fe104b0;p=hdr.git Apparatus --- diff --git a/figures/actuatorcircuit.tex b/figures/actuatorcircuit.tex new file mode 100644 index 0000000..3025f24 --- /dev/null +++ b/figures/actuatorcircuit.tex @@ -0,0 +1,33 @@ +%!TEX root = ../hdrmain.tex + +\begin{figure}[htb] + \centering + + %\tikzexternalenable + \begin{circuitikz}[] + %\ctikzset{logic ports origin=center} + \ctikzset{diodes/scale=0.6} + \draw (0,0) node[and port] (andgate) {} + (andgate.in 1) to[short, -o] ++(-0.5,0) node[anchor=east] {Frequency} + (andgate.in 2) to[short, -o] ++(-0.5,0) node[anchor=east, o-] {Amplitude} + (andgate.out) node[anchor=west] {}; + + \draw (andgate.out) -- ++(0.5,0) node[nfet,bodydiode, anchor=G](nmos){}; + + \draw (nmos.S) node[tlground](GND){}; + + \draw (nmos.D) to[short] ++(-0.5,0) to[short] ++(0,0.5) to[L, l=actuator] ++(0,1) to[short] ++(0,0.5) to[short, -*] ++(0.5,0) node[vcc](vcc){3V3}; + + \draw (nmos.D) -- ++(0.5,0) to[short] ++(0,0.5) to[D] ++(0,1) to[short] ++(0,0.5) to[short] ++(-0.5,0); + + %\draw (0,0) node[above]{$F$} to[short, o-] ++(0.5,0) + %node[ieeestd and port, anchor=in 1](trans){}; +% node[op amp, noinv input up, anchor=+](OA){\texttt{OA1}}; + + + %(node[npn]{Q} + \end{circuitikz} + %\tikzexternaldisable + \caption[]{} + \label{fig:actuatorcircuit} +\end{figure} diff --git a/figures/wristband3protos.png b/figures/wristband3protos.png new file mode 100644 index 0000000..1c4b215 Binary files /dev/null and b/figures/wristband3protos.png differ diff --git a/mystyle.sty b/mystyle.sty index 8f00993..b8c68d6 100644 --- a/mystyle.sty +++ b/mystyle.sty @@ -14,6 +14,7 @@ \usepackage{pgfplots} \usepackage{tikz} \usetikzlibrary{calc,arrows.meta,arrows,positioning,decorations.text} +\usepackage[siunitx]{circuitikz} \usepgfplotslibrary{external} %\tikzexternalize[hdrmain,prefix=tikz/] \tikzexternalize[prefix=tikz/] diff --git a/tex/0-titre.tex b/tex/0-titre.tex index 4518d1c..08e2c6d 100644 --- a/tex/0-titre.tex +++ b/tex/0-titre.tex @@ -64,17 +64,17 @@ \end{centering} \noindent\begin{center} - \noindent\begin{tabular}{@{}l@{\hspace{2.5mm}}l@{\hspace{2.5mm}}l@{}} - \emph{Rapporteurs :} & Laurence Nigay & Professeure à Université Grenoble Alpes\\ - & XXX & Professeur à XXX\\ - & XXX & Professeur à XXX\\ + \noindent\begin{tabular}{@{}l@{\hspace{2.5mm}}l@{\hspace{2.5mm}}l@{\hspace{2.5mm}}l@{}} + \emph{Rapporteurs} & Laurence Nigay & Professeure & Université Grenoble Alpes\\ + & XXX & Professeur & XXX\\ + & XXX & Professeur & XXX\\ \\ - \emph{Examinateurs :} & Michel Beaudouin-Lafon & Professeur à Sorbonne Université\\ - & XXX & Professeur à XXX\\ - & XXX & Professeur à XXX\\ - & XXX & Professeur à XXX\\ + \emph{Examinateurs} & Michel Beaudouin-Lafon & Professeur & Université Paris-Saclay\\ + & XXX & Professeur & XXX\\ + & XXX & Professeur & XXX\\ + & XXX & Professeur & XXX\\ \\ - \emph{Garant :} & Stéphane Huot & Directeur de Recherches chez Inria\\ + \emph{Garant} & Stéphane Huot & Directeur de Recherches & Inria\\ \end{tabular} \end{center} %\vspace*{\stretch{1}} diff --git a/tex/4-loop.tex b/tex/4-loop.tex index aa08724..624e952 100644 --- a/tex/4-loop.tex +++ b/tex/4-loop.tex @@ -49,11 +49,41 @@ This contributes to the overload of these modalities. Therefore, I worked on a way to provide haptic feedback for 3D interaction. The design rationale was to keep the users' hands free since this was the main motivations of this type of sensor. -Otherwise tactile feedback could be integrated in a controler. -Therefore we opted for a wearable, with the idea to +If users have to hold a device for haptic feedback, this device could also serve as an input controller. +%Otherwise tactile feedback could be integrated in a controler. +Therefore we opted for a wearable haptic device for the wrist. \paragraph{Apparatus} +There are several reasons to discuss the design and implementation of the prototype in this document. +First it is designed for expressivity with simplicity. +Second the iterative process is an interesting case study that led to guidelines regarding the implementation of interative systems. +It helped me with the ideation of the concept depicted in \reffig{fig:hapticpath} in \refchap{chap:output}. + +We discussed the output vocabulary of vibrotactile feedback in \refchap{chap:output}. +The independent control of both the frequency and amplitude of the signal is necessary for an expressive output vocabulary. +The typical way to drive precise vibrotactile actuators is to use a sound generation system. +This is convenient because the parameters of the signal are the same: frequency, amplitude, and shape. +The main difference is the frequency range: 1--1000Hz for haptics and 200--20kHz for sound. +Managing the amplitude is easier with vibrations because the required amplitude levels are much lower. +In the end, the shape parameter is in my opinion the bottleneck of complexity for the implementation of vibrotactile devices because it imposes a much higher sampling rate. + +For the sake of simplicity, I opted for a simple design that enabled the precise control of frequency and anmplitude at the cost of a low control of the signal shape. +The overall idea is to control the frequency and amplitude with PWM signals generated by a simple microcontroller. +The frequency signal typically ranges between 1--1000Hz. +The amplitude is controlled with the duty cycle of a high-frequency signal. +We used voice coil actuators, therefore they behave like low-pass filters, which stabilizes this high-frequency signal to a lower-voltage signal, hence reducing the amplitude. +Our prototypes used 16MHz controllers with 8 bits timers, which gives a 62.5kHz loop with 256 levels of amplitude. + +\input{figures/actuatorcircuit.tex} + +\begin{figure}[htb] + \centering + \includegraphics[width=\textwidth]{figures/wristband3protos} + \label{fig:wristbandprototypes} + \caption[Haptic wristband prototypes]{Three iterations of haptic wristband prototypes.} +\end{figure} + \subsection{Quantitative limitations} focus on feedback rather than interaction