Guy with disability seeks better controller using mouse for JACO robotic arm

Projects General Guidance
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Hey everyone,

In short, I want to make two http://www.easysmx.com/product-detail.asp?id=39 control - YouTube

I'm working on getting this: - YouTube But I really don't like the control system they use and hope to make something different.

They usually use the wheelchair joystick to operate the device, but I don't think my joystick is even the best method for controlling my chair, let alone my arm. Personally, I think the wheelchair joystick is archaic, designed towards gross motor control, and due to be revolutionized! On top of not liking the idea of having to switch between driving and JACO control, my joystick on my chair isn't the easiest to maneuver for me, and it shows when working tilting functions, especially if reclined or cold, and this device could help in those moments!

I really like the idea of something small on my body, with full "dual analog control" to work two XY driven parameters at once.

They say that the JACO can use any controller with a DB9 connector.

I'm thinking about trying to use two wireless ring mice with touchpads http://www.easysmx.com/product-detail.asp?id=39 like analog sticks. I think one will be fairly easy with the USB host shield, but will two? Can I stack the shields or use a USB hub/splitter?

I wonder if the JACO would need the Arduino to make it read like a Game controller or if the built-in API could be set up to understand the separate touchpads?

I'm working on getting the JACO through insurance now, but I'd like to figure a few things out early in the process.

Thanks for brainstorming on my problem!
All the best!

P.S. If anyone who lives in Philadelphia and wants to work on this together in person HMU!

Some ref links:

JACO manual - http://kinovarobotics.com/wp-content/uploads/2015/03/JACO²-User-Guide-Service-Robotics-2-0-2.pdf

JACO API guide- http://www.ee.oulu.fi/~sunday/jaco/JacoAPI_ProgrammingGuide.pdf

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Just got more info from the Kinova rep I'm talking to: There is a DB9 connector on the universal interface but it is not RS232, it is only the DB9 physical format. The robot reads control from this port simply by seeing the switched closing of physical connections between the 9 pins, the DB9 is not used as a data connector.

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BrinzerDecalli:
P.S. If anyone who lives in Philadelphia and wants to work on this together in person HMU!

New Delhi, 40th and Chestnut....

brings back memories of great Chicken Marsala and warm julab jamun...

don't get out that way anymore....

4

I had not seen ring mice before. They are wireless so perhaps that is the way to go rather than USB.
More important though is the DB9 connector to the JACO. Do you have any infomration on how it is wired and what each connection does. If it is just looking for contact closures then it could be that fairly basic control is all that it can do.

However that does not mean that you could not use the rings with an Arduino to operate the contacts in more subtle ways.

5

dave-in-nj:
New Delhi, 40th and Chestnut....

brings back memories of great Chicken Marsala and warm julab jamun...

don't get out that way anymore....

Thanks for the recommendation! lol Never been there b4.

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ardly:
I had not seen ring mice before. They are wireless so perhaps that is the way to go rather than USB.
More important though is the DB9 connector to the JACO. Do you have any infomration on how it is wired and what each connection does. If it is just looking for contact closures then it could be that fairly basic control is all that it can do.

However that does not mean that you could not use the rings with an Arduino to operate the contacts in more subtle ways.

I'm trying to get more info and the specific manual for the version I'm getting, since all the manuals I find are for other versions.

The current control method is via plugging into a wheelchair's joystick/control system [sipper, buttons, etc.] or their proprietary controller which looks like a joystick with a twist handle. http://www.kinovarobotics.com/wp-content/uploads/2015/02/builder-joysyick.jpg
https://www.youtube.com/watch?v=fl-7eyCQqYo
as you see it connects with something similar to an XLR cable, which is what chairs use too. So I wonder if a similar rig to: https://www.youtube.com/watch?v=jDMYnpxqKHw&index=7&list=PLn4MwWPKokihgvXVsZfDsjHCbAtLnbMqR may work. Idk if Raspberry Pi is better for this, but my mind is thinking "controller" should go Arduino.

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The JACO is a robot arm and I am sure it will have lots of pre-programmed functions that the user must be able to activate easily. It would be best to fully understand what the standard system does and how before trying to improve it.

Do they have "try before you buy"? Perhaps there are user groups for the arm?
Make sure you check what comes as 'standard' and what are 'extras'. Somebody told me a car they bought had a built in SatNav as standard, but enabling it was an an extra!

Whether to use Arduino or PI is a decision to make once the requirements are better known.

On the ring front. I think the USB is used for charging and configuring the rings but in use they will be communicating wirelessly. No doubt the rings will come with Window's drivers and you can use a PC to set them up.
For communications you may have to write your own code for the Arduino or Pi. You should search to see if anybody has already used a wireless mouse with these, you might be able to copy what they did.