Thesis showcase
Technical implementation
TETv2.0 integrates robotics, embedded control, and mobile software to deliver tactile pattern playback.
System architecture
The system combines a Cartesian robot, custom control electronics, and a mobile application for pattern authoring.
Motion control, safety monitoring, and user workflows are separated for reliability and maintenance.
Hardware design
The 3-DOF robot uses linear rails, lead screws, and position sensing to render patterns on the skin.
Custom PCBs manage power, sensing, and motor control while enforcing safety interlocks.
Firmware and control
An ESP32 controller handles motion commands, PID tuning, and safety state management.
Firmware routines translate pattern data into smooth trajectories with fallback safety behavior.
Mobile application
The mobile app supports pattern recording, text-to-pattern editing, and file management.
Educators can sequence exercises and monitor playback in real time.
Algorithms and processing
Pattern sampling, trajectory generation, and ADC-to-mm conversions ensure precise tactile output.
Error handling protects users during disconnects and unexpected state changes.
System stack
Key subsystems that enable tactile pattern playback.
- 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