Wrote ROS nodes and Arduino code to control variety of robots using a standard Xbox-compatible joystick.(Logitech F710 Wireless). The challenges involved getting making the code platform independent and compatible to various robots with minor robot specific tweaks.
The other group members were responsible for developing a tracking algorithm to track the ball in the air as well as a tactile sensor system to gauge the impact of the ball on the palm. The Platform for testing was the GummiArm developed by Dr. Martin F. Stoelen.
This project involved creating an innovative non-invasive haptic feedback system using sensors made of Velostat, a piezoresistive fabric and a set of vibration motor based feedback segments mounted on what would be the stump of the amputee.