COPYRIGHT(C) 2018 - CMU Assitive Robots Lab - Code released under MIT. Contact - Zhi - zhi.tan@ri.cmu.edu

This repository contains the code that ran the user studies reported in Haptic Interaction for Human-Robot Communication Using a Spherical Robot by Tan and Steinfeld (2018). Due to the experimental nature of the work, the code does not meet industry coding guidelines / best practices and would need modifications to work on different machines. We provide the basic system requirements and brief description for each file.

1. Ubuntu Linux system with
2. Python 3
   1. python package sphero_sprk
3. Sphero SPRK+

This is python object that has the calibration, heading tracking, and generating different kinestatic haptic signals. The main ideas is a control loop that allow us to switch direction and heading of the internal unit.

This file contains the code that run the GUI used in the user study. The different signals can also be described as a list to be executed, these signals (in list form) are stored in encoding.yaml. The different signals reported in the paper are store there.

This file provides basic math function that are used in the system.