Thermal and Textural Feedback for Telepresence

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This was for my M.Sc Research Degree project. See the Abstract / Download the Document.

At the Manipulator end (sensation detection)

• Detects Object Temperature and Thermal Conductivity.
• Detects Surface Texture.
• Detects ambient temperature
• All values converted to I2C by the PCF8591 8bit A/D connected to the serial bus

The Serial Link

• 30 feet end-to-end.
• uses I2C bus.

At the Operator end (Processing & Sensation Regeneration)

• 80C552 microcontroller runs the whole show.
• Recreate Object Temperature and Thermal Conductivity.
• Recreate Surface Texture.
• Communicates with PC (if connected) via isolated RS232.
• Displays data and status on LCD display (if connected).

PC (optional)

• Logs and graphs all Thermal / Textural data.
• Injects virtual object data if required.
• Recognises object Material from the thermal conductivity data within 2 seconds of touching.

Power Supplies

• +10V at 2 Amps.
• 90V at 5mA.

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Steve Lawther Last Updated by Steve Lawther on 14 September 1999.