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A brief history:

2015 David Antón Sánchez built OpenVNAVI: A Vibrotactile Navigation Aid for the Visually Impaired, similar as the one Sean Benson built for Hackaday, but with a much higher resolution as his bachelor thesis at the media computing group of the RWTH Aachen University.

While it turns out that the vest works surprisingly well, we had some reliability issues when the vibration motor got stuck in their 3d-printed housing.

Furthermore, soldering all the pcbs and especially the wiring is far to complex this way.

In this instructable i will describe certain changes on the original vest (the building of this vest is well documented with his thesis and in his Git-repository), and the ideas for the next generation of the vest, namely the development of different methods to control large vibration motor arrays with as less effort as possible, as long as it works reliable as a wearable.

We (the above mentioned media computing group) are able to do this research and continue improving the vest and developing a toolkit for this kind of wearables sponsored by the German Federal Ministry of Education and Research (BMBF) as part of their Open Photonics call to improve the vest and develop a haptic toolkit for easier prototyping of different kind of vibration feedback systems, which should be done open source and allow other people to rebuild it (Personal Photonics, 13N14065).

This instructable is therefore the first step to make both Davids original design more public and present the current state of our next generation vest - this is at the moment an updated version of the original one and certain design tests for a new one, which will be then build from ground up (and will of course get it's own instructable).

Further updates of the hardware toolkit can be of course also found at the chairs website here, at the moment this instructable mirrors mostly the first content of this side.

Step 1: Control a Bunch of Vibration Motors:

The original vest used pcbs with a amplifier circuit in a 3d-printed housing for each vibration motor, which was mounted on the pcb within the housing. This allowed to use cheap surface mounted vibration motors, but needed both power lines for voltage supply and a data line for each motor.

The standard 3pol pin header allows an easy exchange of these motor units (along with the velcro attachment of the housing and vest). Each half row is connected with the two supply lines in parallel, which are bundled in the middle in a central node as one power supply line, while the data lines goes in between the housings upwards to the controller unit.

This was at the beginning a central unit in a box at the back, where each of eight 16* I2C PWM-driver on a central PCB controls one row of vibration motors. The layouts and schematics for both boards can be found here, as well as the files for the 3D-printed housings (and of course a more detailed description in his thesis).

For reducing wires and simplify exchanging the driver units this board was later replaced with the standard Adafruit 16* Servo boards (this updated version is the top picture), which also allows the decrease significant the size of the back box, which now only contains the raspberry pi as brain and a Jtron buck converter for the power supply, which could be either a battery pack or cable connection.

For future versions, we developed until now different methods to use huge numbers of vibration motors (pcb layouts and circuit diagrams can be found here, with the goal of developing an easy-to-use toolkit to develop different kind of systems with huge numbers of vibration motors with acceptable effort.

I2C PWM driver (bottom left):

Can be used int he same way as the Adafruit 16*Servo driver, because it uses the same controller, but has an integrated voltage regulator and driver for the vibration motors, such that either encapsulated or pancake vibration motors can be directly connected with the board. Six address pins (solder on resistor) allows to use up to 62 of these boards at one I2C bus. For wiring use a flexible wire, and stabilize the solder joints either with shrink tube (vibration motor side) or hot glue (on the board itself). These boards are then interconnected with each other (and e.g. with the raspberry) with the two voltage and the two I2C lines. Since a voltage converter is on each board, we don't need the bulky central unit anymore and can supply a higher voltage to each board, therefore cables with smaller diameter can be used. This is at the moment our best way to control the vibration motor arrays, because of the small amounts of components to solder and the simple wiring.

Serial Connection (bottom middle):

Here we use the WS2811 driver, which is normally used for RGB led stripes with a serial one wire data bus. Instead of a led, we control the vibration motor with this ic. While it is possible to control up to three motors with one ic (one for each color), we decided to control just one and add two (single-color) control leds instead. Therefore, we can daisy chain this board just like the led boards, and use the same libraries and programs like the Adafruit Neopixel library to control them, up to 1024 at one data pin of a micro controller. Main disadvantage is due to the serial connection if one board breaks, the rest behind will be also dead. Therefore we would only recommend it for non-wearable solution, where the wiring won't be stressed to much or use cases were the motors are spread over a big area. A one wire data lines and the two voltage lines are connecting each board in series.

Parallel Connection (bottom right):

A dedicated micro controller on each board controls up to four vibration motor. Since the PWM is now done with a general-purpose controller, we can control even linear resonant actuators, which is not be possible for the above mentioned systems. A micro plug system for flat ribbon cable allows an easy setup with crimping 4 pol connectors in parallel on a cable, for the voltage, the serial data line and for programming the micro controller. Current on a standard ribbon cable is limited, therefore after a certain number of vibration motor boards a voltage controller board is plugged in between (again with the same micro plug system), which converts a higher supply voltage down to the 3.3V needed for the boards, reducing the current on the supply lines. Each controller will just listen in parallel for commands, allowing them to work even when some of them break. While we have a highly adaptable wiring system here, which allows also to reuse the boards for different setups, the boards are harder to solder by hand, and you have to program each board individually since each controller needs a unique ID to be addressed individually.

<p>What an interesting and ambitious project! I love seeing things like this! </p>

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