Software¶

This section outlines the key components of the software stack for DOGlove, including communication protocols, servo control, feedback mechanisms, and calibration.

Communication Between PC and Main Board¶

UART Package – Used for low-level serial communication.
Vibration Package – Responsible for encoding and transmitting vibration feedback.
UDP – Used for real-time data streaming between the glove and host computer.

Servo Data Path¶

UDP – Servo position commands and sensor data are transmitted over UDP for low-latency control.

Haptic + Force Feedback¶

Force Sensor Readings – Captures contact forces at the robot fingertips.
Force Feedback Activation Threshold –
When the measured force exceeds a preset threshold, force feedback is enabled by turning on servo.torque.
- To adjust the stiffness of the force feedback, modify the Kp gain parameter.
Vibration Activation Threshold –
When a separate threshold is crossed, the MCU sends vibration commands to the glove.
- You can adjust the vibration pattern and duration using the TI vibration library.

Forward and Inverse Kinematics (FK & IK)¶

Add the site name in the corresponding .xml file to support FK/IK calculations for the pinky finger.

Calibration: Scale and Shift¶

To ensure realistic hand motion mapping, we apply scale and shift adjustments:

Finger Length Discrepancy → Scale Factor
Scale the glove’s finger motion to match the relative lengths of the robotic hand.
Finger Distance Discrepancy → Shift Offset
Adjust for base position differences between fingers to ensure accurate positioning.

The goal is simple: when the real thumb and index finger touch, the robot’s thumb and index should touch as well.