TakkTile Kit for Barrett Hand

Installation instructions for the tactile sensors.
Please send us an email at moc.elitkkat|troppus#moc.elitkkat|troppus if something requires further clarification.

Kit components

3x Finger assemblies (distal + proximal)
1x Palm
2x Communication boards

Installation of Finger Boards

- Attachment to the proximal fingerpads and the palm pad by using double sided tape or glue (current version).

Attachment of the sensor

Attaching the senors using double sided tape.

  • Clean the fingertip place (e.g. wipe with alcohol or IPA)
  • Peel the white protection off
  • Place the sensor into its position on the finger tip, and press firmly to secure.
  • We recommend applying superglue between the sides of the rubber and the fingertip for increased protection.

Connecting the wire

  • Wire connection has a polarity which is important. Please see the section Communication board.

Communication board

The communication board is a custom I2C bridge between sensors and USB. The board is shown in the figure below.

Two connection per communication board:
Option A)
Board 1: Finger 1 and 2
Board 2: Finger 3 and Palm

Option B)
Board 1: Finger 1 and Palm
Board 2: Finger 3 and 2

Connecting the sensors

Sensor connectors have polarity!. The white marking on the sensor connector should be towards the back side of the communication board. Please watch the video below.

When the sensor is plugged into the communication board and plugged into the computer the LED inside the sensor should turn on. If it does not then the sensor was connected incorrectly.

After the sensors are connected, plug the communication board into the computer. The LED of the communication board should blink once, then turn on after a few seconds. If it does not, it is usually a sign that the I2C lines are somehow scrambled due to a damaged wire or conflicting finger addresses on the same bus.

Software and Interface

The default operating system for trying sensors is Ubuntu.

Basics

Please start by going through TakkFast tutorial here

ROS (Robotic Operating System)

After finishing the Basics section, lets explore the TakkTile ROS package.
Please read and install TakkTile ROS from here

Sensor Indexing

Each board has a dedicated address, and as such each sensor has a dedicated address.
Connecting boards with same address will result in an conflict.

To check which sensors are active subscribe to the sensor_info topic under ROS

rostopic echo /takktile_ros/sensor_info

To plot raw sensor values enter

rxplot /takktile_ros/raw/pressure[0]:pressure[1]:pressure[2]:pressure[3]:pressure[4]

note that rxplot takes data location indexes (…2,3,4,5,6…), not sensor_info indices (…2,3,5,6,7…)

To zero thermal drift

rosservice call /takktile_ros/zero

Questions ?

Contact us: here

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