Tangible interfaces for tangible robots

Abstract

Various modes of tangible interfaces have been explored and researched. In this paper we limit our look at tangible user interfaces to a subset of these. The subset is characterised by portability and no attached tethers, be they mechanical links or electrical wires. The subset does include tangible objects that are connected to a larger system for the purpose of relative position and orientation detection, if relevant. Such detection mechanisms include optical, magnetic, and radio means. Examples of optical detection are the use of fibre optics and a video camera. Magnetic detection utilises the presence of a magnetic field, or the changes in such a field. Radio detection mechanisms include the use of the Global Positioning System (GPS) and radio frequency identification (RFID). Using electrically conductive pins provides for another untethered system. Electrical field sensing and the use of acoustic waves are also covered in this chapter. In our discussion we assume open-loop control of robot manipulators, that is, the user interface does not receive feedback from sensing subsytems. The user interface relies on other subsytems to check the inputs provided by the user interface with the actual position of the manipulator.