Table of contents

1. Table of contents
2. Intro
3. Lab 1 Overview
4. More Reading Material

This is a serials of lab tutorial, and the following is what we gonna built at the end of serials.

Intro

• A soft robotic sleeve for haptic feedback during robotic-assisted surgery

  • Fabricated using textiles

  • Controlled with electro-pneumatic components

• Material
  • Based on this prototype and controlled with this low-cost circuit
• Resource
  • Soft Robotics Toolkit, [Website], [Youtube Channel]

Lab 1 Overview

• Setting up and using your I2C pressure sensor

• Fabrication
  1. Soldering the pin headers to the board
  2. Place the sensor on the bread board
  3. Wire the sensor to the Arduino
  4. Build simple hand-pump tubing the testing the sensor
• Wiring Diagram

• Coding

  1. Install the Adafruit MPRLS Arduino Library using the Arduino IDE library manager.
  2. Open the example sketch:
     1. File/Examples/Adafruit MPRLS Library/ mprls_simpletest
  3. Verify and Compile onto your Arduino.
     1. Watch out for common errors such as:
        1. Do you have the correct COM port selected?
        2. Do you have the right model of Arduino selected? You are using an Arduino Uno (Processor: ATmega2560)
        3. In the Serial Monitor, verify the BAUD rate for your COM port matches the rate indicated in the code. The example uses 115200.

  /*!
   * @file mprls_simpletest.ino
   *
   * A basic test of the sensor with default settings. Designed specifically to work with the MPRLS sensor from Adafruit ----> https://www.adafruit.com/products/3965
   *
   * These sensors use I2C to communicate, 2 pins (SCL+SDA) are required to interface with the breakout.
   */
     
  #include <Wire.h>
  #include "Adafruit_MPRLS.h"
    
  // You dont *need* a reset and EOC pin for most uses, so we set to -1 and don't connect
  #define RESET_PIN  -1  // set to any GPIO pin # to hard-reset on begin()
  #define EOC_PIN    -1  // set to any GPIO pin to read end-of-conversion by pin
  Adafruit_MPRLS mpr = Adafruit_MPRLS(RESET_PIN, EOC_PIN);
    
  void setup() {
    Serial.begin(115200);
    Serial.println("MPRLS Simple Test");
    if (!mpr.begin()) {
      Serial.println("Failed to communicate with MPRLS sensor, check wiring?");
      while (1) {
        delay(10);
      }
    }
    Serial.println("Found MPRLS sensor");
  }
    
    
  void loop() {
    float pressure_hPa = mpr.readPressure();
    Serial.print("Pressure (hPa): "); Serial.println(pressure_hPa);
    Serial.print("Pressure (PSI): "); Serial.println(pressure_hPa / 68.947572932);
    delay(1000);
  }
  

• Hamd Pump Tubing Setup

More Reading Material

• Project Idea:
  • Pandemic Ventilator, https://www.instructables.com/Pandemic-Ventilator/
• UIUC, Kris Hauser, Robotic Systems, [Book]
  • Ashitava Ghosal, https://mecheng.iisc.ac.in/~asitava/pers.html
  • Research – Selected interesting Paper/Publication
    • Improved Laparoscopic Surgical Tool, https://mecheng.iisc.ac.in/~asitava/lap_tool_writeup.pdf, [Drawing]
  • Course:
    • NPTEL Online Course, https://nptel.ac.in/noc/noc_course.html

• MOOC: NOC:Robotics: Basics and Selected Advanced Concepts, https://nptel.ac.in/courses/112/108/112108298/
  • Youtube Video, https://www.youtube.com/watch?v=s00h55Zv3p0&list=PLgMDNELGJ1CZT9pdEEkDylXFPLdcqxn0t
  • Slides, https://nptel.ac.in/courses/112/108/112108093

Lab 1 Walkthrough Video:

Lab Report Demo: