CyberGrasp v1.2
Contents
1. o D MH E 8 Technical Specifications oid erat cb pd exped ad e ad madd nt ad nude 8 es EE 9 Ted Maro 10 Hardware Setup ns nn Gom nn CIR bp nn a pu OD aero 10 FCU Orientation ge tee 10 Figure cer ne nn UE 11 Figure Eric PROMESAS 12 Figure or dtp EL etre 13 ECU Urnuseu POLIS seen set AA toon INR Rennes 13 1 arise epe 14 ais gm ER 14 Boot up Segueri6e uolet dieto tent ne Nuit 14 Configuring the FCU for your Network pp 15 Network Configuration Procedure pp 15 Wearing the CyberGrasp Exoskeleton pp 16 c MEER 17 giai ne nr DERE SENDER Se STREET EEE 17 etym eec E 18 laleluir m uc 18 Figure 1 m 19 Figure tisse anne er ERREUR 19 A E E E AE 21 FGU Software Installations 21 Eull Installation Procedure desert rote dest een repere rer eem rep tee eerte dents 21 Creating an Initialization Floppy ss 22 Installing Updating the CyberGrasp FCU Software Over the Network 23 Controlling the CyberGrasp Over the Network 23 Append A consc Rec CER MEER ER PO NO DD M RD Se Ones ME use 25 Troubleshooting oa t ee catch tr ceci ete 25 CyberGrasp User s Guide version 1 2 Chapter 1 Getting Started Congratulations on purchasing your new CyberGrasp haptic feedback interface a force feedback option for Immersion Corporation s CyberGlove instrumented glove With its intuitive reach in and grab it paradigm this novel dev2. M Immersion CyberGrasp v1 2 USER S GUIDE Copyright 2000 2003 Immersion Corporation All rights reserved CyberGrasp User s Guide version 1 2 CyberGrasp User s Guide version 1 2 CyberGrasp User s Guide v1 2 Immersion Corporation 801 Fox Lane San Jose CA USA Phone 408 350 8701 Fax 408 467 1901 www immersion com CyberGrasp User s Guide version 1 2 CONTRIBUTORS Written by Hugo DesRosiers Daniel Gomez Jerry Tian Marc Tremblay Raymond Yu Edited by Rachel Miura TRADEMARKS VirtualHand and CyberGlove are registered trademarks of Virtual Technologies Inc CyberGrasp is a trademark of Virtual Technologies Inc Flock and Bird are trademarks of Ascension Technology Corp Fastrak and Isotrak are registered trademarks of Polhemus Inc Windows NT is a registered trademark of Microsoft Corp IRIX is a registered trademark of Silicon Graphics Inc Other product names mentioned in this manual may be trademarks or registered trademarks of their respective companies and are hereby acknowledged ACKNOWLEDGEMENTS CyberGrasp was partially developed with funding from the Office of Naval Research s STTR program contract NO0014 97 C 0112 CyberGrasp User s Guide version 1 2 Table of Contents Chapter Tuus URNAM MEM MM ERI M MER 6 Getting Slanted eter 6 System Components sense 6 iate ede totum 0 RC 7 Fig re 122 oco nn ono cox oe NN oM NN oM a end 8
3. output devices the host computer and the CyberGrasp FCU are shown in Figure 1 3 The FCU communicates with the CyberGlove and position tracker via serial RS232 links The actuators are controlled using an I O card on the system bus The host computer communicates with the CyberGrasp FCU via Ethernet The following steps are required to connect all the devices FCU Orientation It is recommended that the FCU be operated in vertical configuration only as shown in Figure 1 2 Front Panel Layout If the FCU must be operated in the horizontal configuration ensure that nothing is to be placed on top of 10 CyberGrasp User s Guide version 1 2 the FCU chassis as this could adversely affect the performance of the device Figure 1 5 CyberGrasp System Actuators CyberGrasp Interfaces Force Control Unit FCU Instr Unit Serial RS232 1 Connect the CyberGlove to the FCU Refer to the CyberGlove manual for information on using your CyberGlove The serial cord coming from the CyberGlove s instrumentation Unit CGIU should connect to Serial Port 1 on the FCU Figure 1 5 Make sure the CyberGlove is configured to operate at 115 kbaud by setting the dip switches on the CGIU 2 Connect the Position Tracker to the FCU Refer to the tracker manual for information on using your Ascension or Polhemus position tracker The serial cord coming from the tracker s instrumentation unit should connect to Serial Port 2 on the FCU Fig
4. User s Guide version 1 2 e CyberGrasp User Manual CDOCS GRASP The CyberGrasp system components are shown in Figure 1 1 A 22 sensor CyberGlove is the core of the interface and is used to measure the joint angles of the fingers hand and wrist This information is used by the host to display a graphical hand on the screen or control a telerobotic manipulator The CyberGlove is attached to a CyberGlove Instrumentation Unit CGIU which processes the CyberGlove data and communicates it to the CyberGrasp Force Control Unit FCU The exoskeleton is responsible for providing force feedback to the user It attaches to the back of the hand and guides force applying tendons to the user s fingertips The tension in the tendons is controlled by the actuators located in the actuator enclosure A third party position tracker measures the position and orientation of the hand in space The position tracker is attached to a tracker interface unit which processes the tracker data and communicates it to the FCU Polhemus and Ascension electro magnetic position trackers are currently supported and are required for most applications They are not included as part of the CyberGrasp option and must be purchased separately The FCU is the interface between the devices worn by the user and the host computers which communicate with it via ethernet The host computers need only communicate with the CyberGrasp FCU which in turn communicates with all other periphera
5. able Block Diagram Line Drivers Technical Specifications Performance Specification Description Force 12 N Max Continuous per finger CyberGrasp User s Guide version 1 2 Environment For indoor use only Intended to be used in laboratory office environment Specification Description Temperature 5 to 40 degrees C Altitude Up to 2000 m above sea level Humidity Max humidity 80 up to 31 degrees C decreasing to 5096 at 40 degrees C Pollution Degree Equipment intended for use in pollution degree 2 environment Electrical Specification Description Mains FCU US Europe 100 240 VAC 60 50 Hz 13 7 Amps Mains supply voltage fluctuation not to exceed plus minus 1096 Overvoltage Category Protective Earthing Equipment is Class Earthed equipment and must be connected to a properly grounded mains Interface Ethernet standard STP Category 5 Ethernet cable required Mechanicals Specification Description Workspace 1 meter spherical radius from actuator module Weight 16 oz Exoskeleton without CyberGlove 44 Ibs FCU CyberGrasp User s Guide version 1 2 Figure 1 4 Force Control Unit Front Panel Layout Actuator Power Indicator Power Hardware Setup WARNING Make sure the CyberGrasp Controller is powered off when connecting the various components The interfaces between the input
6. aximum flexibility The FCUInstallation XOS ARCHITECTURE directory of the distribution CD contains a shell based utility called nc that will let you perform remote management To use it you must go to the appropriate directory and type nc numeric ip address of grasp 24 The following menu will appear on the screen a restart the device manager b restart the device manager and watch its output c reboot the grasp controller e E 23 CyberGrasp User s Guide version 1 2 d shutdown the grasp controller q quit Type your choice and hit enter You can choose any above menu items by type its leading character and hit the enter key 24 CyberGrasp User s Guide version 1 2 Appendix A Troubleshooting If you are experiencing problems with your CyberGrasp unit please read the following list of problems carefully If you are still unable to solve your problem you can contact Immersion Corporation support staff at support immersion com PROBLEM Cannot hear the three beeps after the floppy drive light goes off SOLUTION This is most likely caused by a defective boot floppy Try to make another boot floppy preferably using a new diskette and boot the GyberGrasp with it If it still fails try to make the floppy on another machine PROBLEM The update grasp sh on NT or update grasp sh Irix prompts Failed to connect to the CyberGrasp SOLUTION The message
7. ded system and to the left of the arm for a left handed system 2 Make sure the thumb tendon cable goes over the arm and not under 16 CyberGrasp User s Guide version 1 2 Velcro Straps Backplate Figure 1 9 Abduction Sensor 3 Position the CyberGrasp backplate in the middle of the back of the hand such that the plate is just behind the abduction sensors the U shaped elements rising from the back of the CyberGlove The plate should rest comfortably on the back of the hand All cables should go over and to the pinky side of the hand WARNING Do not place the backplate on top of or against the abduction sensors This may result in damage to the sensors and is gm ot covered under warranty Velcro Straps Figure 1 10 17 4 Tighten both Velcro straps as tightly as possible without being uncomfortable At this point the backplate should be firmly an d squarely positioned on the back of the hand CyberGrasp User s Guide version 1 2 Finger Loop 5 Slide all the finger i loops onto the corresponding fingers If they are too tight loosen them using the thumbscrew The force applicator rings should then be slid onto the fingertips i e the distal phalanges 6 The finger loops can be tightened using the thumbscrews i Position the cam Thumb in the center of the Screw middle phalanx before tightening Flexing the finger makes it easy to locate t
8. e nc program to restart the Device Manager or reboot the FCU manually PROBLEM The FCU beeps continuously after it is booted with the Installation floppy SOLUTION The beeps is normally an indication of serious hardware problem Please contact Immersion technical support for further assistance PROBLEM The software installation finished successfully but could not access the FCU with the nc utility SOLUTION Reboot the FCU PROBLEM can control the CyberGrasp with nc but my application fails to access devices on it SOLUTION Make sure you can access the FCU with the Device Configuration Utility See VHS User s Guide for more information e Make sure the right IP address is being used by your application If a canonical address e g grasp domain com doesn t work try the corresponding numerical IP address e g 192 1 34 15 instead Make sure the configuration of the device matches what is specified in your application Check if it is connected to the right serial port running at appropriate baud rate etc You may choose to restart the Device Manager and watch its output in the nc program This will give you more clues as you debug the setup 26
9. erGlove and position tracker instrumentation units and wait approximately 10 seconds At this point the FCU is ready to be configured for network operation Configuring the FCU for your Network Communication with the CyberGrasp FCU is achieved via ethernet over a network The FCU must therefore be added to your network just like any other new computer If some of the terminology used in the following sections is unclear please contact your system administrator WARNING A Microsoft Windows NT 95 98 machine with a 1 44MB floppy drive is required for editing the FCU configuration m floppy disk Network Configuration Procedure The network settings for the FCU are configured by running the netcfg exe utility provided on the CyberGrasp initialization floppy This utility runs in a Microsoft Windows NT 95 98 environment Before running the utility you will need to obtain the following information from your system administrator e host name a name by which the FCU will be known within your network e network domain the name of your network domain if any e IP address an IP address that is assigned to the FCU within your network e network gateway an IP address that refers to the network gateway for the network segment in which the FCU will be connected e domain name server an IP address for the computer that serves the domain names for your network 15 CyberGrasp User s Guide version 1 2 e netmask an IP mask
10. etwork 22 CyberGrasp User s Guide version 1 2 Installing Updating the CyberGrasp FCU Software Over the Network This process consist of transferring the software packages from your workstation to the CyberGrasp FCU using the network link The software packages are contained in a single archive located in the FCUInstallation OS ARCHITECTURE directory of the distribution CD For example if you are using Microsoft Windows NT 9x you will find the archive in the FCUInstallation winnt 386 directory From a command prompt DOS or Unix go to the appropriate directory and type update grasp bat numeric ip address of grasp on MS Windows 9x NT update grasp sh numeric ip address of grasp on Unix The numeric ip address of grasp is the number you provided at the configuration stage of the initialization floppy disk Depending on your network capacity and traffic the data transfer will take from one to ten seconds The FCU will beep three times after the software packages have successfully been installed At that point a Device Manager is started automatically and is ready to handle client requests You can use either the Device Control Utility or the demo applications supplied in the distribution CD to insure that the CyberGrasp is working properly Please refer to the VHS User s Guide for doing so Controlling the CyberGrasp Over the Network The CyberGrasp controller can be controlled and monitored over the network for m
11. he middle phalanx The device comes with multiple finger rings If the current ring is too small or too large to reliably stay on the fingertip use the ring clip to replace it with another one Figure 1 12 18 CyberGrasp User s Guide version 1 2 7 The next step is to ensure that the thumb assembly is properly aligned with the thumb as indicated in the Figure 1 14 This is achieved with the adjustment screw shown in Figure 1 19 8 When the adjustment screw is loosened it is possible to slide the thumb assembly back and forth in the slots The slots are designed such the orientation of the assembly does not change as it slides through the slots When moving the assembly hold on to the adjustment screw not the assembly itself as it may bind Very little torque is required to sufficiently tighten the screw Excessive torque may cause damage Figure 1 14 WARNING Do not place the backplate on top of or against the abduction sensors This may result in damage to the sensors and is gm not covered under warranty 19 CyberGrasp User s Guide version 1 2 20 CyberGrasp User s Guide version 1 2 Chapter 2 FCU Software Installation The CyberGrasp Force Control Unit FCU comes with a Device Manager and all associated software pre installed at the factory In normal situations it must only be given a network name and address so that it can operate over a TCP IP ne
12. ice provides a natural way to interface with complex 3D computer generated worlds and to control end effectors in telerobotic applications requiring a high level of dexterity Possible applications include CAD training and simulation virtual reality rapid prototyping telerobotics medical training data visualization education and underwater exploration and salvage operations This manual describes how to set up and get your CyberGrasp unit operational Refer to the CyberGlove user s manual for information on using the CyberGlove and to the VirtualHand Suite User s Guide and Programmer s Guide for additional software information The rest of this chapter explains how to set up your system and wear the CyberGrasp exoskeleton WARNING f equipment is used in a manner not specified in this manual or by Immerison the protection provided by the equipment m may be impaired System Components The CyberGrasp system as shipped should consist of the following parts gt Exoskeleton Actuator Box right IV RGRP SA700 or left IV RGRP SA800 FCU Force Controller Unit IV RFCU SA700 Umbilical Cable IV RHAR708 AC Power Cable Depends on country CCABLE IEC XX 3 Finger Ring Middle Small IV RMDA SA719 1 Finger Ring Pinky Small IV RMDA SA717 1 Finger Ring Thumb Small IV RTHB SA719 Tracker adapter kit IV GSHP SA110 Number 6 32 Nylon screws Number 4 40 Nylon screws Velcro e Setup Floppy CS CYBERGRASP CyberGrasp
13. indicates that the installation program cannot establish a stable connection to the FCU The following should be checked e Make sure the network setting for the FCU is configured properly and has access to your LAN Any typographic error in the information you provided when running netcfg exe will likely cause the FCU network interface be configured incorrectly Examine the settings by running netcfg exe on the boot floppy again Contact your network administrator if you are not sure about the settings e Make sure the host computer can access the FCU over the network This can be verified by using the ping command and pinging the FCU from the host machine as ping grasp ip e Only one update session is allowed to run at any time Attempts to start the update process will be denied if there is another update session running you aborted an update please wait for at least 10 seconds before another attempt 25 CyberGrasp User s Guide version 1 2 PROBLEM could not hear the three beeps after the installation program finished on the host computer SOLUTION Your network may be experiencing heavy traffic at the moment you run the update program Therefore it may time out before it finishes the update Try to run the update program a few more times Also the beeps may be too weak to hear if you are at a distance from the FCU Verify whether the Device Manager is running with the Device Control Utility You can also use th
14. ls CyberGlove position tracker and CyberGrasp actuators CyberGrasp Control Unit Figure 1 1 CyberGrasp CyberGrasp CyberGrasp Actuator Force System Enclosure Components CyberGlove CyberGlove Instrument Unit Position Position Tracker Tracker Interface Unit The front panel of the FCU is shown in Figure 1 2 The red Actuator Power switch controls the power to their motors alone without affecting the FCU processor The actuator power indicator is lit when power is on To reset the FCU i e reboot toggle the Processor Reset switch The FCU Power switch controls power to the FCU s central processing unit The power to the motors will automatically be disengaged if the FCU Power is turned off The Main Power switch located at the rear of the case Figure 1 5 controls power to the whole FCU and when turned off overrides front panel switches Link CyberGrasp User s Guide version 1 2 NOTE The Actuator Power switch light will flash intermittently upon shutoff as the amplifiers for the motors power down Figure 1 2 FCU Circuit 100 on Controll AC Input VAC ontroller CyberGrasp Motor Power CyberGrasp Cable O card Onboard Serial Port mic Onboard Serial Port Servo Amp FA Serial Cable to CyberGlove Instrumentation Unit A edis CyberGrasp Circuit C
15. ndons on the CyberGrasp exoskeleton 5 Physically Connect the FCU to the Network Using a standard UTP Category 5 ethernet cable connect the FCU to your network hub The ethernet connector is located on the back panel of the FCU Figure 1 5 The FCU can also be connected directly to the host computer if the proper ethernet cable is used 6 Connect the Power Cord to the FCU Make sure the main power switch located on the back of the FCU is in the OFF position and verify that the voltage switch at the rear of the FCU is set to the proper voltage 115V or 220V Connect the AC power cord to the back of the FCU Figure 1 5 12 CyberGrasp User s Guide version 1 2 Figure 1 7 Force Control Main Power Unit Port Switch Layout External A Ethernet Host Power Link Serial 1 CGIU CyberGrasp Cable Actuator Enclosure VGA Monitor debugging only Serial 2 Tracker 7 OPTIONAL Connect a Monitor to the FCU For debugging purposes a VGA or SVGA monitor can be connected to the FCU to view error messages but is not required to obtain more information on how to configure them properly Do not attempt to run your CyberGrasp unit before familiarizing yourself B with the peripheral devices WARNING Refer to the CyberGlove and position tracker manuals FCU Unused Ports At the rear panel of the FCU as shown in Figure 1 5 Port Layout there are a number of unused ports including USB keyboard mouse joystick port
16. s parallel ports serial ports sound card and I O connectors These additional ports are not to be used Only attach devices to the appropriately labeled ports as documented in this manual 13 CyberGrasp User s Guide version 1 2 Maintenance CyberGrasp is factory serviceable only containing no user serviceable parts Surfaces of Exoskeleton and FCU may be cleaned with mild detergent using a slightly damp cloth Figure 1 8 CyberGrasp Actuator Unit and Exoskeleton its original manual for the port layout CyberGrasp v1 1 USER S you have an older CyberGrasp Force Control Unit refer to NOTE m GUIDE Boot up Sequence Once all the appropriate cables have been connected and the CyberGrasp is plugged in the unit is ready for boot up The start up procedure is as follows 1 Make sure there is no disk in the floppy drive and that the FCU Power button is in the OFF 0 position The FCU Power button is located on the front panel of the system controller Figure 1 2 2 Put the Main Power switch in the ON I position The switch is located in the back of the controller Figure 1 5 3 Put the FCU Power switch in the ON I position The switch is located in the front of the controller Figure 1 2 14 CyberGrasp User s Guide version 1 2 4 Wait for the FCU to boot up When it is ready it will emit three consecutive beeps This will take approximately 30 40 seconds 5 Turn on the Cyb
17. s then followed by a 21 CyberGrasp User s Guide version 1 2 remote full installation of the FCU once the CyberGrasp unit has booted from the floppy Creating an Initialization Floppy This process consists of transferring a disk image onto a floppy disk The disk image is located in the FCUlnstallation boot floppy directory of the distribution CD e Puta blank formatted floppy into the floppy drive of a Microsoft Windows computer e Open a DOS shell and go the to FCUlInstallation boot floppy To open a DOS shell click the Windows Start button on the bottom left corner of your screen Go to the Programs pull out and then click on the MS DOS Prompt icon e Finally type the line below and follow the instructions rawrite f cgrasp raw d a The floppy drive will be active for approximately 30 45 seconds NOTE You will require the same information than that required in Chapter 1 in the section on Configurating the FCU for your network m Please consult your system administrator to obtain this information WARNING Once the disk image has been copied to the floppy disk label it carefully BOOTING YOUR COMPUTER WITH THAT FLOPPY DISK MAY RESULT IN UNRECOVERABLE DATA LOSS m A5 THE CYBERGRASP SOFTWARE REPLACES THE CONTENTS ON YOUR MAIN DISK Once the initial installation has succeeded the FCU will beep once every 10 seconds to indicate that it is awaiting the rest of the Device Manager software to be installed over the n
18. that is used by the segment in which the FCU will be connected With the CyberGrasp initialization floppy in drive A of a Microsoft Windows computer type the following at the prompt from the within the DOS shell Start Programs MS DOS Prompt cd a netcfg The utility will prompt you with the configuration questions and present a default answer in brackets for each question You can either enter a new value or press enter to accept the default answer Once you have provided all the network configuration information the FCU has to be initialized with the floppy To do so put the initialization floppy into the FCU floppy drive and then power it on or reboot it if it is already working The FCU initialization will start automatically When the initialization is complete the FCU will beep three times Take the floppy disk out of the floppy drive and reboot the FCU At this point the FCU is ready to communicate with the host computer The user should refer to the VirtualHand User s Guide for instructions on how to test the CyberGrasp hardware run demos and write programs that use the device Wearing the CyberGrasp Exoskeleton The user should first put on the CyberGlove fabric glove and then follow steps 1 through 8 to properly position the CyberGrasp exoskeleton on the hand 1 Make sure the tendon cables and the CyberGlove cable are not tangled before beginning They should all fall to the right of the arm for a right han
19. twork This procedure is explained in Chapter 1 Getting Started If for any reason the FCU software should become damaged the VHS 2000 distribution CD contains all necessary files for initializing and configuring the FCU Refer to the Full Installation Procedure section for instructions on a complete installation of the FCU from scratch WARNING Reinstalling the FCU software is not required on new units Only refer to this chapter if upgrading the FCU software or m einstalling it to replace lost damaged files Full Installation Procedure A full software reinstallation of the CyberGrasp Force Control Unit can be required to upgrade or downgrade the control software or in the case of a hardware failure of the internal hard disk of the FCU The following sections describe the procedure to re create a minimal installation floppy disk and then make a networked based installation of the control software on the FCU NOTE For a full installation a networked computer running Microsoft Windows NT 9x IRIX or Linux is required for installing the m CyberGrasp FCU Software over the network All files are stored in a directory named FCUlnstallation The installation software is available for Microsoft Windows NT 9x SGI Irix 6 4 amp 6 5 and Linux in the winnt 386 irix mips and Inx 386 directories respectively A full software installation procedure begins with the creation of a minimal installation floppy disk for the CyberGrasp FCU It i
20. ure 1 5 Make sure the tracker is configured to operate at 115 kbaud by setting the dip switches on the instrumentation unit 3 Mount the Position Tracker on the CyberGrasp Exoskeleton The tracker sensor is attached to the CyberGrasp exoskeleton via a mounting block located on the CyberGrasp backplate as illustrated in Figure 1 4 The unit should be positioned such that the tracker cable runs in the same direction as the force applying tendons There are two sets of holes on the mounting block one set is used for the Polhemus Trackers and the other for Ascension Trackers Number 6 32 nylon screws are used to secure the Ascension trackers and smaller number 4 40 nylon screws should be used for Polhemus trackers Both types of screws are supplied with the CyberGrasp system As mentioned previously a position tracker is required to use the CyberGrasp unit and must be purchased separately 11 CyberGrasp User s Guide version 1 2 Figure 1 6 Mounting the Position Tracker electromagnetic position tracker to the backplate Metal screws can distort the magnetic field and could adversely affect the accuracy of NOTE t is important to use nylon or plastic screws when fixing the the sensor 4 Connect the Actuator Enclosure to the FCU Connect the black cable that attaches to the actuator enclosure Figure 1 6 to the back of the FCU Figure 1 5 The actuator enclosure is the box that contains the motors that drive the te
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