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Step 4Cane position sensors
Linear Sensor:
In order for the eyeRobot to match it's speed to that of the user, the eyeRobot senses whether the user is pushing or retarding its forward motion. This is achieved by sliding the base of the cane along a track, as a potentiometer senses the cane's position. The eyeRobot uses this input to regulate the speed of the robot. The idea of the eyeRobot adapting to the speed of the user through a linear sensor was actually inspired by the family lawnmower.
The base of the cane is connected to a guide block moving along a rail. Attached to the guide block is a slide potentiometer that reads the position of the guide block and reports it to the processor. In order to allow the stick to rotate relative to the robot there is a rod running up through a block of wood, forming a rotating bearing. This bearing is then attached to a hinge to allow the stick to adjust to the height of the user.
Twist Sensor:
The twist sensor allows the user to twist on the handle to turn the robot. A potentiometer is attached to the end of one wooden shaft and the knob is inserted and glued into the upper part of the handle. The wires run down the dowel and feed the twist information into the processor.
In order for the eyeRobot to match it's speed to that of the user, the eyeRobot senses whether the user is pushing or retarding its forward motion. This is achieved by sliding the base of the cane along a track, as a potentiometer senses the cane's position. The eyeRobot uses this input to regulate the speed of the robot. The idea of the eyeRobot adapting to the speed of the user through a linear sensor was actually inspired by the family lawnmower.
The base of the cane is connected to a guide block moving along a rail. Attached to the guide block is a slide potentiometer that reads the position of the guide block and reports it to the processor. In order to allow the stick to rotate relative to the robot there is a rod running up through a block of wood, forming a rotating bearing. This bearing is then attached to a hinge to allow the stick to adjust to the height of the user.
Twist Sensor:
The twist sensor allows the user to twist on the handle to turn the robot. A potentiometer is attached to the end of one wooden shaft and the knob is inserted and glued into the upper part of the handle. The wires run down the dowel and feed the twist information into the processor.
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