The Haptic Torso suit was developed as a conceptual product to showcase what open source hardware and programming can deliver.
The video below illustrates the foundation to which the project was aimed towards. The fundamental principal was to enhance human to machine interaction, essentially transferring human input to digital data & transferring the digital data to mechanical output.
From the initial foundation the project was aimed at the naval industry. See the pictures below for a product/project breakdown. Also, be sure to check the end of this page for the complete Arduino code of the video contents above.
I do not take ownership of this code as it was built by myself & other designers.
Arduino code:
// ADXL345 accelerometer 2 servo motor control
#include <Wire.h>
#include <Servo.h>
Servo myservox;
Servo myservoy;
#define DEVICE (0x53)
#define TO_READ (6)
#define TRIGGER 16
byte buff[TO_READ] ;
int i;
void setup()
{ pinMode(TRIGGER,OUTPUT);
digitalWrite(TRIGGER,HIGH);
Wire.begin();
myservox.attach(10);
myservoy.attach(9);
myservox.write(90);
delay(25);
myservoy.write(90);
delay(25);
writeTo(DEVICE, 0x2D, 0);
writeTo(DEVICE, 0x2D, 16);
writeTo(DEVICE, 0x2D, 8);}
void loop()
{ int regAddress = 0x32;
int x, y, z; digitalWrite(TRIGGER,LOW);
delay(10); digitalWrite(TRIGGER,HIGH);
readFrom(DEVICE, regAddress, TO_READ, buff);
x=0; y=0; z=0;
for(i=1;i<=5;i++)
{ x += (((int)buff[1]) << 8) | buff[0];
y += (((int)buff[3])<< 8) | buff[2];
z += (((int)buff[5]) << 8) | buff[4];
delay(10);
}
x/=5;
y/=5;
z/=5;
if(x<-255)x= -255;
else if (x>255)x=255;
if(y<-255)y= -255;
else if (y>255)y=255;
x=map(x, 255, -255, 0, 180);
y=map(y, -255, 255, 0, 180);
myservox.write(x);
delay(25);
myservoy.write(180-y);
delay(10);
delay(10);}
void writeTo(int device, byte address, byte val)
{ Wire.beginTransmission(device);
Wire.write(address); Wire.write(val);
Wire.endTransmission(); }
void readFrom(int device, byte address, int num, byte buff[])
{ Wire.beginTransmission(device);
Wire.write(address);
Wire.endTransmission();
Wire.beginTransmission(device);
Wire.requestFrom(device, num);
int i = 0;
while(Wire.available())
{
buff[i] = Wire.read(); i++;
}
Wire.endTransmission();
}
