Tactile-Visual Sensory Substitution
TETv2.0 tactile learning system
Design and implementation of a tactile-visual system for pattern recognition by touch using a 3-DOF Cartesian robot, custom electronics, and a mobile app.
Executive summary
Due to the need of educational resources for the inclusive education of people with visual disabilities, the design and implementation of a Cartesian robot that simulates a person who draws with his finger abstract patterns that the person with visual disability recognizes by means of the Touch on your palm or on your finger. This work is an update of the proof of concept proposed by the development group of the platform "Tukii Emociones Tangibles" (TET). The project will carry out an investigation of the sensitive tactile level, as opposed to the recognition of patterns by students of the Special Education Center for people with visual disabilities DECSEDIV. Its potential as a methodological tool is demonstrated in the generation of inclusive educational resources. KEYWORDS: INTERACTIVE ROBOT. VISUAL DISABILITY. SENSORY SUBSTITUTION MOBILE ACCESSIBILITY
3-DOF
Cartesian robot platform
ESP32
Embedded control stack
TETv2.0
Tactile substitution platform
DECSEDIV
Inclusive education partner
Technical highlights
- 3-DOF Cartesian robot with emergency stop and safety interlocks
- Custom PCBs for sensing, power management, and motor control
- ESP32 firmware for trajectory handling, PID tuning, and safety states
- Mobile app for pattern recording, text-to-pattern editing, and playback
- Pattern sampling and ADC-to-mm conversion algorithms
- Mechanical, electrical, and usability validation with visually impaired users
Research process
Problem framing, objectives, methodology, and inclusive education context.
Technical implementation
System architecture, hardware, firmware, and mobile application details.
Results & validation
Testing methodology, user validation, and performance outcomes.
Impact & outcomes
Inclusive education impact, dissemination, and future directions.
Media gallery
Read the full thesis
Full document with diagrams, test results, and technical appendices.