Bio Tac SP Product Manual

BioTac_SP_Product_Manual

User Manual:

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Page Count: 32

BioTac® SP Product Manual

Updated: October 26, 2015, V2

Authors: Blaine Matulevich, Jeremy Fishel, Gary Lin and Gerald Loeb

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!"#$%&'(&)'*+%*+,&

1%Introduction+to+Technology+..........................................................................................+3%

2%Engineering+Support+........................................................................................................+5%

3%Available+Software+...........................................................................................................+6%

4%Care+and+Handling+............................................................................................................+7%

4.1%Skin+Replacement+and+Fluid+Filling+Proceedure+.........................................................+7%

5%Sensor+Electronics+............................................................................................................+8%

5.1%Sensor+Output+..........................................................................................................................+8%

6%Sensor+Performance+Considerations+......................................................................+11%

6.1%Maximum+Loading+and+Saturation+................................................................................+11%

6.2%Skin+Wear+Rate+.....................................................................................................................+11%

6.3%Calibration+and+Converting+to+Engineering+Units+....................................................+11%

6.4%Accounting+for+Signal+Drift+...............................................................................................+12%

7%Electrical+Connections+..................................................................................................+13%

7.1%Flexible+Circuit+Model+........................................................................................................+13%

7.1.1%Flexible%Circuit%Model%Power%Requirements%....................................................................%13%

7.2%6+Pin+Connector+Model+.......................................................................................................+14%

7.2.1%6@Pin%Connector%Power%Requirements%................................................................................%15%

8%SPI+Communication+Protocol+2.3+and+later+...........................................................+16%

8.1%Overview+................................................................................................................................+16%

8.2%SPI+Configuration+.................................................................................................................+16%

8.3%Command+Types+..................................................................................................................+17%

8.3.1%Sampling%command%.....................................................................................................................%18%

8.3.2%Data%Resend%command%...............................................................................................................%21%

8.3.3%Set/Write%and%read%command%.................................................................................................%21%

9%Sampling+sequences+......................................................................................................+23%

9.1%Default+Sampling+Sequence+..............................................................................................+23%

9.2%Alternate+Sampling+Sequences+.......................................................................................+24%

9.2.1%All%Channels%(31%Samples/frame):%........................................................................................%24%

9.2.2%Electrodes%Only%..............................................................................................................................%25%

9.2.3%AC/DC%Pressure%.............................................................................................................................%25%

9.2.4%Single%Channel%and%Other%Sampling%Sequences%...............................................................%25%

Appendix+A.%Materials+......................................................................................................+26%

Appendix+B.%Legal+..............................................................................................................+27%

9.2.5%PURPOSE%..........................................................................................................................................%28%

9.2.6%CUSTOMER%SUPPORT%AND%SERVICE%...................................................................................%28%

9.2.7%CUSTOMER%FEEDBACK%..............................................................................................................%28%

9.2.8%TAXES%AND%TARIFFS%...................................................................................................................%28%

9.2.9%SAFETY%AND%HEALTH%ACKNOWLEDGEMENTS%.............................................................%28%

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- .*+/'012+3'*&+'&!%24*'$'56&

This manual describes the performance and function of SynTouch’s BioTac® SP

tactile sensor. The biomimetic design consists of a rigid core surrounded by an

elastic skin filled with a liquid to give compliance similar to the human fingertip

and the original BioTac design (Figure 1). The curved, deformable nature of both

the BioTac SP and biological fingertips provides mechanical features that are

desirable for the manipulation of objects. The skin of the BioTac SP possesses

texture and tackiness similar to the properties of human skin.

Figure+1+–+Left:+The+Original+BioTac+Schematic,+Right:+BioTac+SP+Picture.+

The BioTac SP is the smallest tactile sensor capable of detecting the full range of

cutaneous sensory information that human fingers can detect: forces,

microvibrations, and temperature. Note that all of these sensory functions have

been incorporated into the bone-like core of the device; there are no sensors in

the skin itself. If the skin of the BioTac SP is damaged, SynTouch can replace it.

The BioTac SP takes the functionality of the BioTac and incorporates it into a

single phalanx design whereby the pressure sensor and electronics are inside

the bone-like single-phalanx core.

The three sensory modalities of the BioTac SP are made possible by three

separate sets of transducers:

• As forces are applied to the skin, the skin and fluid deform. Changes in

impedance as the fluid deforms are detected by an array of electrodes on the

surface of the BioTac SP core.

• As objects slide across the surface of the BioTac SP, they generate vibrations

that are detected by a hydro-acoustic pressure transducer inside the core.

• As objects of different thermal conductivity come into contact with the core, the

heat that flows from the BioTac SP into the object produces thermal gradients

that are detected as a change in temperature of the thermistor in the BioTac

SP.

Fall

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Raw data collected from the BioTac SP include:

• Voltages on impedance sensing electrodes

• Absolute fluid pressure (DC Pressure)

• Dynamic fluid pressure = vibration (AC Pressure)

• Temperature (DC Temperature)

• Heat flow (AC Temperature)

Signal processing of these data enables the BioTac SP to do many things that

humans can do by touch, such as:

• Determine point of contact

• Estimate tri-axial forces

• Estimate the radius of curvature of a contacted object

• Discriminate edges, corners, and flat surfaces

• Sense initial contact, with a remarkably high sensitivity

• Detect slip

• Discriminate objects based on their texture

• Discriminate object based on their compliance

• Discriminate objects based on their thermal properties

For tasks such as identifying objects or maintaining stable grasp, these sensory

modalities tend to be synergistic. For example, information about texture and slip

can be derived from vibrations of skin ridges sliding over a surface, but only if the

forces on the skin are known and well-controlled. Similarly, information about the

material composition of an object can be inferred from the rate of heat transfer

from a heated finger to the object, but only if the location and force of contact are

known and controlled.

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7 8*53*%%/3*5&91::'/+&

SynTouch provides engineering support for troubleshooting and installation

assistance with various platforms. Additional technical support can be purchased

to aid with implementing new communication protocols, design and production of

mechanical or electrical adapters, or generation of novel signal processing tools.

Contact SynTouch at support@syntouchllc.com for additional details.

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; <="3$"#$%&9'(+>"/%&

SynTouch provides various software and programming libraries to help with the

development of custom applications using the BioTac. These software are

provided free of charge to all customers as a development tool. The latest

versions of these software and their documentation are provided on our website

at www.syntouchllc.com under the products tab. SynTouch intends to update

these software libraries to fully support the BioTac SP in the future.

Software provided by SynTouch includes various graphical user interfaces to

visualize and record data (Windows) as well as software libraries for LabVIEW,

and C-Libraries to support various hardware interfaces. As of the writing of this

document, supported hardware includes the Cheetah SPI USB Host Adapter

(LabVIEW: Windows, C-Libraries: Linux, Windows, OS X) and PEAK-System

Technik’s PCAN-PCI Card (C-Libraries: Real Time Linux). Software libraries for

Willow Garage’s Robotic Operating System (ROS) as well as other platforms and

hardware are currently under development.

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? )"/%&"*0&@"*0$3*5&

Special care should be taken when using the BioTac SP to ensure its long life

and stable performance.

• Skin Changes and Bracket Removal: Return the BioTac SP to SynTouch for

skin changes or bracket removal.

! The screws connecting the BioTac SP bracket to the sensor should NOT be

removed by the customer. Doing so may cause BioTac fluid to leak into the

core of the sensor, causing corrosion and potentially shorting electronics.

Because of this the BioTac SP skin may NOT be changed by the customer.

• Maximum Force: The BioTac SP is rated at forces up to 250N and should not

be used in a robotic gripper using more force.

• Skin Leaks: Under normal usage the skin should not leak, if leaks are noticed

disconnect the sensor, clean up any BioTac fluid and notify SynTouch. Do

NOT attempt to run the sensor.

• Shock: The BioTac SP is not designed to be resistant to severe shock. Do not

drop the BioTac SP on hard surfaces or swing a robotic hand with BioTac SPs

installed into hard objects as fracture from this impact could occur.

• Storage: Store the BioTac SP in dry conditions and keep the electrical

connectors coated with dielectric grease.

! The BioTac SP is NOT water resistant and should not be rinsed in water.

4.1 Skin Replacement and Fluid Filling Proceedure

! The BioTac SP skin may NOT be replaced or reinflated by the customer. If

the skin becomes damaged, please contact SynTouch at

support@syntouchllc.com. Skins may only be replaced or refilled by

SynTouch. Attempting to remove the BioTac SP bracket, replace the skin, or

refill the BioTac SP will void all warranties on the device and cause the

sensor to fail.

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A 9%*,'/&8$%2+/'*32,&

The integrated electronics of the BioTac SP contains all sensory transducers,

signal conditioning, and analog-to-digital conversion electronics to enable digital

transmission of the sensor data (Figure 2).

Figure+9+X+Electrical+schematic+of+the+BioTac+

5.1 Sensor Output

The BioTac SP contains three classes of sensors: impedance sensing

electrodes, static and dynamic fluid pressure, and temperature and thermal flux.

Details of the acquisition and summary of performance of the three main sensor

types are provided below:

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Sensory

Modality

Symbol

Range

Resolution

Frequency

Response

Impedance

0 - 3.3V

3.2 mV

0 - 100 Hz

Fluid Pressure

PDC

0 - 100 kPa

36.5 Pa

0 - 1040 Hz

Microvibration

PAC

+/-0.76 kPa

0.37 Pa

10 - 1040 Hz

Temperature

TDC

0 - 75 C

0.1 C

0 – 22.6 Hz

Thermal Flux

TAC

0 - 1 C/s

0.001 C/s

0.45 – 22.6 Hz

Table+1+–+BioTac+Sensory+Transducer+Sampling+Details+

• Impedance between each electrode and 4 common excitation electrodes

is measured in a voltage divider with reference to a 10kΩ load resistor

(Rload). For each sampling, the electrode of interest is connected by the

multiplexer and a short 3.3V pulse is sent from the excitation electrodes

through the fluid to the sensing electrode. As the impedance over the

sensing electrode increases, the measured voltage decreases. This

voltage (Vn) is digitized with 12-bit resolution (En: 0-4095). The exact

impedance (Zn) can be determined from the voltage divider equation as:

impedancen=3.3 V

−1

'10 kΩ=4095 bits

−1

'10 kΩ

• Fluid pressure is measured with a piezo-resistive pressure transducer with

a range of 0-100kPa (15psi with reference to atmospheric pressure). The

transducer output is biased in the positive direction to prevent negative

saturation and amplified with a gain of 10 and a low-pass anti-aliasing filter

at 1040Hz to produce the DC pressure signal (PDC). A second stage

includes a band-pass filter of 10-1040Hz and an additional gain of 99.1 to

produce the high-resolution AC pressure vibration signal (PAC). Both are

sampled with 12-bit resolution for the range of 0-3.3V. Both AC and DC

pressure can be estimated with the following equations (see Application

Notes below):

fluid pressure =P

DC −offset

( )

0.0365 kPa bit

dynamic pressure =P

AC −offset

( )

0.37 Pa bit

! The pressure transducer used in the BioTac is not thermally

compensated and can drift slightly in response to changes in

temperature. Due to the fabrication of the BioTac, mechanical strains

applied to the core are coupled to the pressure transducer and can

cause small fluctuations in sensor output.

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• Temperature is measured with a thermistor voltage divider with reference

to a 30kΩ resistor and a 10V supply. The resistance of the thermistor is

given as: 0.6444 exp(4025°K/T) in units of ohms. The absolute

temperature (TDC) has a low-pass anti-aliasing filter at 22.6Hz and unity

gain buffer. Dynamic temperature (TAC) is measured with a band-pass

filter of 0.25-22.6Hz and an additional gain of 98. Both are sampled with

12-bit resolution for the range 0-3.3V. Both absolute temperature and

dynamic temperature can be estimated with the following equations:

temperature =4025

155183 −46555 TDC 4095bits

TDC 4095bits

°C−273.15°C

dynamic temperature =−41.07

155183 −46555 TAC 4095bits

TAC 4095bits

°C

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B 9%*,'/&C%/('/D"*2%&)'*,30%/"+3'*,&

6.1 Maximum Loading and Saturation

The saturation force is the point at which the device output no longer varies with

applied force. The saturation force for each electrode voltage is based on the

skin properties, electrode configuration, fluid pressure and measurement

circuitry. The saturation of the electrode impedance occurs above 250N, at

which point the electrode voltage goes approximately to zero. Due to the non-

linearity of the impedance circuit, higher-resolution is afforded at lower forces,

while higher forces have a reduced resolution. The DC pressure also responds

linearly to low forces before the skin comes into contact with the core; this

measurement saturates at about 2N.

! The maximum recommended force applied to the BioTac SP should not

exceed 250N.

This assumes a 250N force applied to the tip while loading against a relatively

large flat surface. Lower forces with sharper objects will result in higher local

pressures that could result in skin puncture and should also be avoided.

As a general rule of thumb, the BioTac SP has a similar resistance to damage as

the human finger. Large forces, heavy impacts, and sharp objects that would

cause harm to the biological finger may also damage the skin or core of the

BioTac SP. Common sense should be used to avoid these situations.

6.2 Skin Wear Rate

The skin’s wear rate will depend upon usage and environmental conditions. In

an effort to retain human-like compliance for grip, the hardness of the elastomer

skin was kept low and near human skin (Shore A 26). However other properties

of the elastomer have been maximized (tensile strength, elongation % at break)

to minimize wear. In most applications the skin and fingerprints should last for

more than 100 hours of use. Care should be taken to avoid intentionally sliding

the BioTac SP over abrasive materials that could increase the wear rate of the

skin and fingerprints. Wearing of fingerprints has a substantial impact on the loss

of sensitivity to texture-related vibrations.

! If a BioTac SP skin needs replacement, do not try to replace the skin. Instead

contact SynTouch to arrange for the skin to be replaced.

6.3 Calibration and Converting to Engineering Units

Calibration is the method by which the sensor’s electrical output is related to an

engineering unit, such Newtons or Pascals. The BioTac SP is a highly non-linear

device susceptible to drift (like the human fingertip) so it is generally not

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recommended to be used in this fashion, although these equations are provided

for convenience and to give a sense of magnitude. The recommended use of the

sensor output is to use the raw data output for various signal-processing

algorithms. If it is still desired to convert to engineering units, direct values can

be obtained through the equations in the previous section or through other

analytical or machine learning methods. Frequent calibration is recommended if

this approach is used.

6.4 Accounting for Signal Drift

Similar to human fingertips, the BioTac SP is better at providing information

about changes than absolute values. The recommended use of the sensor

output, is to use the raw data for various signal-processing algorithms. Further,

absolute signal levels will drift slightly with changes in temperature, inflation

volumes, and skin wear. The BioTac SP’s fluid blend has been optimized to

reduce the effects of fluid diffusion through the skin that might affect impedance

sensed by the electrodes. In developing algorithms utilizing BioTac SP data, we

suggest that users incorporate a function to account for signal drift that will occur

in their particular application and/or conditions of use. In general, these effects

are not dramatic, but it is important that users are aware of the potential for these

changes to occur. When the BioTac SP is not in contact with external objects, it

is recommended the sensor be tared to account for any offset.

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E 8$%2+/32"$&)'**%2+3'*,&

The BioTac SP comes in two different versions for electrical connections and can

be reconfigured by SynTouch if needed.

7.1 Flexible Circuit Model

The following pinout is used in the BioTac SP Flexible Circuit Model:

Pin number

Function

Description

N.C.

Not Used

SCLK

SPI, clock

SPI, Chip select

MOSI

SPI, Master out slave in

GND

Power (input)

MISO

SPI, Master in slave out

3.3-5V

Power (do not exceed 5.5V)

N.C.

Not Used

Table+2+–+BioTac+Flex+Circuit+Pinout+

! BioTac fluid is electrically conductive by design and can damage electrical

components and corrode electrical leads. Care should be taken to ensure the

BioTac fluid does not come into contact with electrical connections!!!

EF-F- G$%H3#$%&)3/213+&I'0%$&C'>%/&J%K13/%D%*+,&

For optimal sensitivity, the noise of these power supplies should be less than

20mV.

! Do not supply the BioTac SP with greater than 5.5V of voltage. This can

cause damage to the electrical components, which could make the BioTac

unusable.

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7.2 6 Pin Connector Model

The 6 pin connector model of the BioTac SP is designed to use the same cabling

and electronics as the original BioTac and can be connected to with a 6-pin

connector to supply 5V power and SPI communication.

Figure+11+–+BioTac+6XPin+Connections+(Versions+2.4+and+later)+

! Do not supply the BioTac SP with greater than 5.5V of voltage. This can

cause damage to the electrical components, which could make the BioTac

unusable.

The 6-pin connector is designed to mate with the following connector:

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Manufacturer

JST Sales America Inc

Manufacturer Part Number

SHR-06V-S

Digi-Key Part Number

455-1396-ND

Datasheet

http://www.jst-mfg.com/product/pdf/eng/eSR.pdf

Family

Rectangular Connectors - Housings

Connectors

Interconnects

Series

Connector Type

Receptacle

Number of Positions

Pitch

0.039" (1.00mm)

Mounting Type

Free Hanging (In-Line)

Termination

Crimp

Table+5+–+6XPin+Connector+Information+

! BioTac fluid is electrically conductive by design and can damage electrical

components and corrode electrical leads. Care should be taken to ensure the

BioTac fluid does not come into contact with electrical connections!!!

EF7F- BLC3*&)'**%2+'/&C'>%/&J%K13/%D%*+,&

For optimal sensitivity, the noise of these power supplies should be less than

20mV.

! Do not supply the BioTac 5V power-supply with greater than 5.5V of voltage.

This can cause damage to the electrical components, which could make the

BioTac unusable.

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M 9C.&)'DD1*32"+3'*&C/'+'2'$&7F;&"*0&$"+%/&

8.1 Overview

The BioTac SP uses identical communication protocol as the BioTac and

NumaTac products.

During regular data acquisition the master sends a 2-byte request for a particular

sensor channel measurement and then pauses the clock while each BioTac SP

on the bus simultaneously acquires a 2-byte (12 bit) datum. The master then

selects each BioTac SP in sequence and drives the SPI clock so that each slave

transmits its datum to the master when its chip select is activated.

See Appendix A for SPI protocol V1.1 in which a single BioTac SP collects a

preset sequence of data from its sensors for transmission as a buffer when

queried by the host.

8.2 SPI Configuration

Figure+12+X+SPI+Connection+Overview+

SPI Communication Details

• Word Structure: 2-byte words (16 bits)

• Clock rate: 500kHz-10MHz

• Clock priority: idle low

• Clock phase: first edge

• MISO is changing at negative edge of SCLK; master should sample the signal

from MISO line during positive edge and NOT sample the MISO line during

negative edge of SCLK.

***

The locations of the

wires do not reflect

the arrangement on

the connectors

***

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• BioTac SP samples MOSI line around positive edge; master should change

the signal at negative edge and NOT change the signal at positive edge.

MISO

MOSI

Signal update

-ve clock edge

Signal sample

+ve clock edge

Table+6+X+Timing+of+SPI+signal+update+and+sample+

8.3 Command Types

There are four types of basic commands between the host controller and

individual BioTac SPs:

• Sampling command

• Resend command

• Parameter Set/Write command

• Parameter Read command

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Figure+13+–+SPI+Communication+Protocol+Command+Types+and+Structure+

While SPI supports full duplex transmission, the current version of SPI protocol is

designed to communicate in half duplex with two-byte commands being sent

from the host and 2xn bytes of response from the BioTac SPs.

! While listening to the responses from the BioTac SP the host should

write 0x0001 to the MOSI lines to avoid errors.

MF;F- 9"D:$3*5&2'DD"*0&

8.3.1.1 Description/

The sampling command is a 2-byte command from the host. Only the first byte is

processed and the second byte is ignored. Upon receiving the 2-byte command

from the host, all BioTac SPs with an active slave select during the command

simultaneously and independently sample the requested channel specified by the

6-bit command SSSSSS (63 possible channels) and load the value into a 2-byte

buffer.

First Byte

Second Byte

bit#

Sampling

Resend

Set/Write

Read

Subset

Variables

0b: indicating the command is sent as binary code

0/1

: command type

SSSSSS: sampling channels number (0~63)

NNNN: subset number (0~15)

VVV: variable number (0~7)

P: parity check (odd parity)

X: ignored

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! NOTE: A minimum of 50µs delay is required between the sampling

command and response from the BioTac SPs. During this time the CS

lines should be disabled.

After the minimum delay of 50µs individual BioTac SPs can be queried for this 2-

byte buffer by enabling the CS and CLK line to each BioTac SP for two bytes.

This buffer must be read before sending a new sampling request. A sample of

the recommended communication structure is outlined below:

Figure+14+X+Recommended+Sampling+Sequence+for+3+BioTac+SPs+

Bytes 2B 2B 2B 2B 2B 2B 2B 2B

Timming,Delay 50µs 5µs 5µs 5µs 50µs 5µs 5µs 5µs

SPI,clock

MOSI

MISO

BioTac,1,/CS

BioTac,2,/CS

BioTac,3,/CS

Sample

Sample,Delay

BT1,Transmit

Delay

BT2,Transmit

Delay

BT3,Transmit

Delay

Sample

Sample,Delay

BT1,Transmit

Delay

BT2,Transmit

Delay

BT3,Transmit

Delay

SPI,Master

BioTacs

Page%|%20%%

8.3.1.2 Detailed/Sampling/Commands/

Description

Index

1st Byte

Command

Return

(bytes)

Note

Pac

0b10000000

Pdc

0b10000011

Tac

0b10000101

Tdc

0b10000110

Hall Sensor

0b10011110

Only on specific models

Version 1.1 Streaming

Protocol

0b10100001

92 x

#Frames

See Appendix for details

of SPI V1.1 Protocol

Get Electrode #1 data

0b10100010

Get Electrode #2 data

0b10100100

Get Electrode #3 data

0b10100111

Get Electrode #4 data

0b10101000

Get Electrode #5 data

0b10101011

Get Electrode #6 data

0b10101101

Get Electrode #7 data

0b10101110

Get Electrode #8 data

0b10110000

Get Electrode #9 data

0b10110011

Get Electrode #10 data

0b10110101

Get Electrode #11 data

0b10110110

Get Electrode #12 data

0b10111001

Get Electrode #13 data

0b10111010

Get Electrode #14 data

0b10111100

Get Electrode #15 data

0b10111111

Get Electrode #16 data

0b11000001

Get Electrode #17 data

0b11000010

Get Electrode #18 data

0b11000100

Get Electrode #19 data

0b11000111

Get Electrode #20 data

0b11001000

Get Electrode #21 data

0b11001011

Get Electrode #22 data

0b11001101

Get Electrode #23 data

0b11001110

Get Electrode #24 data

0b11010000

Table+7+–+Sampling+Commands+

8.3.1.3 Response/Format:/

Signals from sensors are digitized as 12-14 bits of data; and split into two bytes

(low byte and high byte) in the following format.

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Figure+15+–+Sampling+Command+Response+Format+

8.3.1.4 SPI/Version/1/Communication/Note/

Sending a 0b10100001 command enters SPI Version 1.1 program loop,

described in appendix A. To exit this loop, CLK must remain idle for 5 seconds.

8.3.1.5 Error/Handling/

Sampling Errors

BioTac Response

Description

Insufficient Sampling Delay (-)

0b10100101 00101101

There has been insufficient delay between

the sampling command and response time

(minimum delay is 50µs)

Channel Not Recognized (X)

0b10100101 01011000

The channel is not recognized by the

BioTac firmware or unavailable

Table+8+–+Sampling+Error+Responses+

MF;F7 N"+"&J%,%*0&2'DD"*0&

The data resend command is a 2-byte command from the host. Only the first byte

is processed and the second byte is ignored. Upon receipt of the data resend

command, the BioTac SP responds with the previous 2 bytes of sampled data

(this should be used in case of a parity error).

Chip select can be used to request a data resend from an individual BioTac SP.

If the data resend command is sent before the BioTac SP has been sent a

sampling command the BioTac SP will ignore the resend request.

MF;F; 9%+OP/3+%&"*0&/%"0&2'DD"*0&

The set/write and read commands are a 2-byte commands from the host (with

additional bytes in the case of set/write. Upon receiving the command the BioTac

SP responds with 2x bytes.

Group index

Subset name

Function

NNNN=0001

Information

BioTac SP general parameters

NNNN=0110

CPU

BioTac SP CPU parameters

NNNN=0111

Internal

sampling

Internal sampling mode parameters

Table+9+–+Read/Write+Function+Subset+Groups+

MSB LSB

Parity 0 0 Parity

bit-15 bit-14 bit-13 bit-12 bit-11 bit-10 bit-9 bit-8 bit-7 bit-6 bit-5 bit-4 bit-3 bit-2 bit-1 bit-0

Data<11:5>

Data<4:0>

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Description

2nd byte

Command

Return

Bytes

Details

NNNN = 0001

General information

subset

0b0001VVVP

Flex version

0b00010000

Format: M.N - ASCII (no parity)

Software version

0b00010011

Format MMNN - ASCII (no

parity)

Serial number

0b00010101

Format ASCII (no parity)

NNNN = 0110

CPU information

subset

0b0110VVVP

CPU speed

0b01100001

0-65535 kHz (no parity)

NNNN = 0111

Internal sampling

information subset

0b0111VVVP

Sampling frequency

0b01110000

0-65535 Hz (no parity)

Sampling pattern

0b01110011

2 x n

2 byte channel array:

0b 1SSSSSSP 00000001 x n

Last Sample Ends in:

0b 1SSSSSSP 11111110

Table+10++X+Read/Write+Function+Details+

8.3.3.1 Error/Handling/

Set/Write Errors

BioTac Response

Description

Parameter is read-only (R)

0b10100101 01010010

Trying to write to a read-only parameter

Table+11+–+Read/Write+Error+Codes+

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Q 9"D:$3*5&,%K1%*2%,&

While the sampling sequence is configurable and controllable by the host by

sending various sequences of sampling commands the following sequences are

recommended by SynTouch to optimize the available bandwidth of sensory

modalities and reduce the communication bandwidth.

9.1 Default Sampling Sequence

Vibrations signals are measured (PAC) and interleaved with the electrode

impedances (Electrodes #n) and other sensor signals (PDC, TAC, and TDC). It is

recommended that this sampling sequence is run at a minimum 4.4kHz to take

advantage of the full bandwidth of PAC and electrodes.

Sequence (54 Samples/frame):

PAC, E1, PAC, E2, PAC, E3, PAC, E4, PAC, E5, PAC, E6, PAC, E7, PAC, E8, PAC, E9, PAC,

E10, PAC, E11, PAC, E12, PAC, E13, PAC, E14, PAC, E15, PAC, E16, PAC, E17, PAC, E18,

PAC, E19, PAC, E20, PAC, E21, PAC, E22, PAC, E23, PAC, E24, PAC, PDC, PAC, TAC, PAC,

TDC

Bandwidth:

Data: 16 bits/ch/BioTac SP, 864 bits/frame/BioTac SP

Communication Overhead: 864 bits/frame

3 BioTac SPs sampled at 4.4kHz: 281.6 kB/s

Page%|%24%%

Figure+16+–+Recommended+Default+Sampling+Sequence+

Using the recommended sampling rate of 4.4kHz, this permits for the following

bandwidth:

Sensor type

Numbers of sensor

Sampling rate

Signal bandwidth

Electrode

73Hz per electrode

36.5Hz

AC Pressure (PAC)

2200Hz

1100Hz

DC Pressure (PDC)

73Hz

36.5Hz

AC Temperature (TAC)

73Hz

36.5Hz

DC Temperature (TDC)

73Hz

36.5Hz

Table+12+–+Bandwidth+and+Sampling+rate+for+Default+Sampling+Sequence+at+4.4kHz+

9.2 Alternate Sampling Sequences

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This sampling sequence is advised when high bandwidth vibration is not

necessary. It reduces the sampling rate of PAC to conserve bandwidth.

Recommended sampling rate is 3.1kHz, however lower sampling rates can be

used if desired. This is a preferred sampling pattern for a low-bandwidth standby

mode when not interacting with objects. NOTE: when using this sampling

sequence PAC is subject to aliasing.

Sequence:

E1%

Pac%

E2%

Pac%

...%...%

E24%

Pac%Pdc%

Pac%

Tac%

Pac%

Tdc%

Pac%

Page%|%25%%

PAC, PDC, TAC, TDC, E1, E2, E3, E4, E5, E6, E7, E8, E9, E10, E11, E12, E13, E14, E15,

E16, E17, E18, E19, E20, E21, E22, E23, E24

Bandwidth:

Data: 16 bits/ch/BioTac, 448 bits/frame/BioTac

Communication Overhead: 448 bits/frame

3 BioTacs sampled at 3.1kHz: 198.4 kB/s

3 BioTacs sampled at 310Hz: 19.8 kB/s

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This sampling sequence is preferred for force extraction algorithms that make

use of the BioTac electrodes, preferably for lighter forces. The recommended

sampling rate is 1.9kHz.

Sequence (24 Samples/frame):

E1, E2, E3, E4, E5, E6, E7, E8, E9, E10, E11, E12, E13, E14, E15, E16, E17, E18, E19, E20,

E21, E22, E23, E24

Bandwidth:

Data: 16 bits/ch/BioTac, 384 bits/frame/BioTac

Communication Overhead: 384 bits/frame

3 BioTacs sampled at 2.4kHz: 153.6 kB/s

Sequence:

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This sampling sequence is preferred for high-resolution sampling of vibration

signals and alternates between the PAC and PDC channels. The recommended

sampling rate is 4.4kHz.

Sequence (2 Samples/frame):

PAC, PDC

Bandwidth:

Data: 16 bits/ch/BioTac, 32 bits/frame/BioTac

Communication Overhead: 32 bits/frame

3 BioTacs sampled at 4.4kHz: 281.6 kb/s

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The provided sampling sequences above are merely guidelines and users are

able to customize their own sampling sequences or configure software to sample

a single channel at any rate they prefer.

Page%|%26%%

<::%*03H&<F I"+%/3"$,&

Part

Material

Weight

Remarks

Core

Vectra® Thermoplastic

7 g

Durable

Skin

Silicone Elastomer

2 g

Good Wear

Properties

Bracket

Aluminum

0.5 g

Anodized

Electrodes

Stainless Steel

Screws

Stainless Steel

Cover Plate

Stainless Steel

Fluid

1M Sodium Bromide

dissolved in PEG-

200/Water mixture

0.3 - 0.5 g

Nontoxic

Page%|%27%%

<::%*03H&VF W%5"$&

BioTac® SP Warranty

1. The customer should check goods immediately after receipt for possible

problems. Defective, damaged, or missing goods (hereafter: Defective

Goods) are to be reported to SynTouch in writing within 5 working days. If

a customer elects to not notify SynTouch about Defective Goods, or if a

customer uses Defective Goods they waive all rights under this warranty.

2. Repairs or replacements of Defective Goods occur at the discretion of

SynTouch. Discretion is not waived under any circumstances, including

prior attempts to repair or replace Defective Goods.

3. Upon SynTouch acknowledging notice from a customer about Defective

Goods, SynTouch has 90 days in which they may elect to resolve the

issue by either: A) repairing or replacing the Defective Goods, or B)

crediting the customer for the value of the Defective Goods.

4. The customer must provide access by shipping Defective Goods and all

documentation about them to SynTouch. SynTouch may elect to send a

representative to the customer, in which case the customer must provide

access by enabling the representative to perform testing, repairs and

replacements to Defective Goods. If a customer refuses to provide

access they waive all rights under this warranty.

5. After receiving an acknowledgement about Defective Goods from

SynTouch, if 90 days elapse without resolution of the issue, a customer

has the right to a credit for the Defective Goods. To receive their credit a

customer must return the Defective Goods along with a written description

of the issues encountered, and a written description of efforts to resolve

the issue.

6. No warranty claims will be accepted if it is determined that the cause was

due to normal wear and tear, or damage caused by faulty or negligent

maintenance, shipping with packaging other than the original packaging,

modification, or use outside the specifications listed. Nor will warranty

claims be accepted if it is determined that Damaged Goods have

insignificantly reduced value or utility.

7. No warranty claims will be accepted if the customer removes the screws

holding the skin in place.

8. SynTouch is not liable for consequential or incidental damages during

customer attempted repairs or any cost or expense of providing substitute

equipment during periods of malfunction or pending repairs.

9. If any part of this warranty is deemed unenforceable, all remaining parts

remain in full effect.

Page%|%28%%

Customer Service and Health and Safety Acknowledgements

QF7FA CXJCU98&

This document is intended as a written confirmation of the terms and conditions

under which SynTouch LLC will provide Customer Service for our products to our

customers. This agreement defines the services SynTouch LLC will provide to

customer in conjunction with license of or purchase of SynTouch LLC products

as well as Customer’s notice and acknowledgement of any potential hazards,

restrictions or limitations with regards to SynTouch LLC’s products.

QF7FB )X9!UI8J&9XCCUJ!&<YN&98JZ.)8&

Under this agreement, Customer seeks to receive, and SynTouch LLC agrees to

provide customer service, in some cases for a fee, for Customer’s purchased

SynTouch LLC products.

Customer agrees and understands that some service options may be limited to

normal business hours and days of the week. Customer agrees and

understands that this agreement only covers their SynTouch LLC products and

not any third-party product or modification. Customer understands that if it is

determined that support and service are being used to support a third-party

product or any modification or alteration to a SynTouch LLC product not

authorized or approved in SynTouch LLC documentation, Customer may be

charged and Customer agrees to pay for such service, at SynTouch LLC’s sole

discretion .

QF7FE )X9!UI8J&G88NV<)[&

Under this agreement, SynTouch LLC seeks to receive, and Customer agrees to

provide, certain levels of customer feedback regarding Customer’s purchased

SynTouch LLC products.

QF7FM !<\89&<YN&!<J.GG9&

Customer shall be responsible for payment and satisfaction of all taxes

applicable and/or tariffs, costs of import or costs of export related to purchasing,

shipping or transporting materials for providing services under this agreement.

QF7FQ 9<G8!]&<YN&@8<W!@&<)[YUPW8N^8I8Y!9&

SynTouch LLC is concerned for your safety has communicated to Customer, and

Customer understands, the following potential safety and health issues

associated with SynTouch LLC Products:

1. SHARPS WARNING Many SynTouch LLC products use a standard

insulin syringe with a 25 gauge needle in the operation of said products.

Customer acknowledges

Page%|%29%%

a. that he or she has consulted with a SynTouch sales, marketing or

development professional regarding whether his or her purchase

uses such needles and therefore whether proper operation of that

product involves a sharps hazard;

b. that Customer is wholly responsible for communicating such a

hazard to any parties using his or her SynTouch LLC product,

whether or not such use is under his or her supervision; and

c. that Customer is wholly responsible for proper storage and disposal

of sharps and biomedical waste in conjunction with operation of his

or her SynTouch LLC product and in compliance with applicable

law.

2. CHEMICAL WARNING Many SynTouch LLC products use certain

chemicals in their operations. Customer acknowledges:

a. that Customer has been provided with the Material Safety Data

Sheets (MSDS) for all SynTouch LLC products he or she has

purchased, either with said purchase or through a request to a

SynTouch LLC sales, marketing or development professional;

b. that Customer has read all MSDS for chemicals used in the

appropriate SynTouch LLC products and understands the potential

safety and health risks associated with such chemicals;

c. that Customer is wholly responsible for communicating such a

safety and health risks to any parties using his or her SynTouch

LLC product, whether or not such use is under his or her

supervision;

d. that Customer will provide copies of the MSDS for chemicals used

in the appropriate SynTouch LLC products to any parties who

request them in conjunction with the Customer’s SynTouch LLC

products; and

e. that Customer is wholly responsible for proper storage and disposal

of chemicals in conjunction with operation of his or her SynTouch

LLC product and in compliance with applicable law.

Page%|%30%%

Indemnification

Customer shall indemnify and hold harmless SynTouch LLC for all legal claims

resulting from Customer’s failure to reasonably communicate information in this

agreement to parties using Customer’s SynTouch LLC products, reasonably

communicate information listed under above section Health & Safety

Acknowledgements to parties using Customer’s SynTouch LLC products or

failure to take steps to account for responsibilities listed under above section

Health & Safety Acknowledgements. SynTouch LLC shall indemnify and hold

harmless Customer for all legal claims resulting from failure to respond in a

reasonable time to requests made by Customer under above section Health &

Safety Acknowledgements or for failure to provide full information requested in

response to requests made by Customer under above section Health & Safety

Acknowledgements. Procedure. In case any Claim is at any time brought against

Syntouch LLC or Customer, the party obligated to provide such indemnification

(the "Indemnifying Party") will defend such Claim, at the sole expense of the

Indemnifying Party, using counsel selected by the Indemnifying Party but subject

to the Indemnified Party's reasonable approval. If the Indemnifying Party fails to

take timely action to defend such a Claim after having received written notice

from the Indemnified Party of such failure, the Indemnified Party may defend

such a Claim at the Indemnifying Party's expense. The Indemnifying Party will

keep the Indemnified Party fully advised with respect to such Claims and the

progress of any suits, and the Indemnified Party shall have the right to

participate, at the Indemnified Party's expense, in any suit instituted against it

and to select attorneys to defend it, which attorneys will be independent of any

attorneys chosen by the Indemnifying Party relating to such Claim or related

claim. The Indemnifying Party will not settle, compromise or otherwise enter into

any agreement regarding the disposition of any Claim against the Indemnified

Party without the prior written consent and approval of the Indemnified Party

which shall not be unreasonable withheld.

GOVERNING LAW

This Agreement and the performance hereunder shall be governed by the laws of

the State of California without regard to conflicts of law rules. The Parties agree

on behalf of themselves and any person claiming by or through them that the

sole and exclusive jurisdiction and venue for any litigation which may arise

hereunder shall be an appropriate federal or state court located in the County of

Los Angeles and the Parties hereby consent to the personal jurisdiction of such

courts.

DISCLAIMERS AND LIMITATIONS

DISCLAIMER OF WARRANTIES. EXCEPT AS OTHERWISE PROVIDED IN

THIS AGREEMENT, NEITHER PARTY MAKES, AND EACH PARTY HEREBY

WAIVES AND DISCLAIMS, ANY REPRESENTATIONS OR WARRANTIES

Page%|%31%%

REGARDING THIS AGREEMENT OR THE TRANSACTIONS CONTEMPLATED

HEREBY, INCLUDING ANY IMPLIED WARRANTIES OF MERCHANTABILITY,

FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT OR

IMPLIED WARRANTIES ARISING OUT OF COURSE OF DEALING, COURSE

OF PERFORMANCE OR USAGE OF TRADE.

LIMITATION OF DAMAGES. NEITHER PARTY SHALL HAVE ANY LIABILITY

TO THE OTHER PARTY FOR ANY LOST PROFITS OR SPECIAL,

INCIDENTAL, PUNITIVE, EXEMPLARY, INDIRECT OR CONSEQUENTIAL

DAMAGES, EVEN IF SUCH PARTY HAS BEEN ADVISED OF THE

POSSIBILITY OF SUCH DAMAGES, NOR SHALL ANY OF THE TERMS OF

THIS AGREEMENT BENEFIT OR CREATE ANY RIGHT OR CAUSE OF

ACTION IN OR ON BEHALF OF ANY PERSON OR ENTITY OTHER THAN THE

PARTIES HERETO REGARDLESS OF THE FORM OF THE ACTION,

DAMAGE, CLAIM, LIABILITY, COST, EXPENSE, OR LOSS, WHETHER IN

CONTRACT, STATUTE, TORT (INCLUDING WITHOUT LIMITATION,

NEGLIGENCE), OR OTHERWISE, PROVIDED THAT THIS LIMITATION SHALL

NOT APPLY TO ANY AMOUNTS PAYABLE TO THIRD PARTIES UNDER THE

INDEMNIFICATION PROVISIONS OF THIS AGREEMENT OR TO BREACH BY

A PARTY OF THE CONFIDENTIALITY OBLIGATIONS APPLICABLE

HEREUNDER.

Severability and Conflict of Prevailing Law: The provisions of this Agreement

are severable and if any provision shall be rendered invalid, void or otherwise

unenforceable by statute, court order or any other legal action, it shall not affect

the validity or enforceability of any other provision and all remaining provisions

shall remain in full force and effect. Should any applicable federal law of the

United States or applicable international treaty of which the United States is a

signatory conflict with any part of this agreement, that part of the agreement shall

be read and construed as broadly as possible within the limits of that law or

treaty, and all other provisions of this agreement shall be unchanged and retain

full force and meaning.

Page%|%32%%

CONTACT

SynTouch LLC

2222 S.Figueroa St, PH2

Los Angeles, CA 90007

213.493.4400

info@syntouchllc.com

www.syntouchllc.com

Bio Tac SP Product Manual

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