8:00 – 11:00 SR

• Backups
• Some more back and forth with Brandon W. Not sure where that’s going.
• Showed Pat VISIBILITY. She might be able to help with a proof-of-concept ROI visualization
• Poked at Dong’s dynamic panel problem

11:00 – 4:00 FP

• Added force interaction between gripper and target sphere
• Determined how to make the ratio calculation work. If the sum of all of the magnitudes on the target is greater than zero, then the ratio equals the magnitude of the sum of the force vectors divided by the sum of each magnitude. A value of 1.0 means that there is no contact. A value of 0.0 is a perfectly opposing contact. As currently implemented, if the ratio is less than 0.5, then the position of the target sphere is set to the point that lies between the two grippers, otherwise the (summed) contact force vector is applied to the target.
• Need to add walls around the work environment so that the targets can’t get out of reach.
• Need to add the metal standoffs for the speakers. I was thinking about ordering some box tubing, but the sizes weren’t optimal. I’ll bend up some metal tonight.
• Need to start adding in the code that will support the experiments
  • Task code
  • Feedback options
    • Position and pressure only
    • Position, force feedback and pressure
    • Position, pressure and vibration
    • Position, force feedback, pressure and vibration.