#WEBOTS SIMULATION SPEAKER HOW TO#
#WEBOTS SIMULATION SPEAKER UPDATE#
#WEBOTS SIMULATION SPEAKER FULL#

Furthermore, the admittance control strategy, which continuously varies the control parameters to best render the force sensation and adapt to the user's motion intentions, will be investigated.

In this paper, the virtual environment, developed within the Webots framework and rendering a HES digital-twin mapping and mimicking the actual HES motion, will be described in detail. Whenever the patient grasps a virtual object, the HES provides the user with a force feedback sensation. The exoskeleton assists the patient's movements according to force feedback and following a reference value calculated inside the VR.

Motivated by these considerations, a Hand Exoskeleton System (HES) has been designed to be interfaced with a variable admittance control to achieve VR-based rehabilitation tasks. Modern VR can also render interaction forces when paired to wearable devices to give the user some sort of proprioceptive force or tactile feedback. Besides, they can be easily reconfigured to match the patient's needs by manipulating exercise intensity, e.g., Assistance-As-Needed (AAN) and the required tasks. Indeed, virtual environments can simulate real-life manipulation tasks and real-time assign a score to the patient's performance, thus providing challenging exercises while promoting training with a reward-based system. In this view, robotic devices, like hand exoskeletons, do arise as an excellent tool to boost both therapy's outcome and patient participation, especially when paired with the advantages offered by interacting with virtual reality (VR). Object manipulation is a crucial element of hand rehabilitation treatments however, as a standalone process may result in being repetitive and unstimulating in the long run. Several studies highlight that patients are encouraged to undergo their therapies and feel more involved in the process when collaborating with a user-friendly robotic environment. Robot-based rehabilitation is consolidated as a viable and efficient practice to speed up and improve the recovery of lost functions. Department of Industrial Engineering, University of Florence, Florence, Italy.#timestep = int(robot.Alberto Topini †, William Sansom †, Nicola Secciani †, Lorenzo Bartalucci †, Alessandro Ridolfi and Benedetto Allotta * # Close our Kinect sensor, close the window and quit.

#WEBOTS SIMULATION SPEAKER UPDATE#

# - Update the screen with what we've drawn. Self.draw_body(joints, joint_points, SKELETON_COLORS) Joint_points = self._kinect.body_joints_to_color_space(joints) # convert joint coordinates to color space Speaker.speak('User detected!', volume=1.0) # Speak to the userįor i in range(0, self._kinect.max_body_count): The Kinect body detection is a slightly modified version of this example: class BodyGameRuntime(object):

#WEBOTS SIMULATION SPEAKER FULL#

Here are the relevant parts of my code, I can provide the full code if needed.

#WEBOTS SIMULATION SPEAKER HOW TO#

Even if that's the case, I don't know how to proceed. I believe this might be a synchronization issue due to Kinect and Webots having their own clocks, but I'm not sure. After I close the Kinect window, the robot speaks the message but that code should have been executed inside the Kinect code, as listed below. However, when the Kinect starts running and the window pops up, Webots clock stops ticking and the robot doesn't do anything. I have a Kinect V2 hooked up to the USB port and it can detect a person on its own by running my Python code using PyKinect2 and pygame.Īs the next step, I put that code into the Webots environment and I've added a robot to speak to the user when Kinect detects them.

I'm trying to create a Webots simulation where I want my robot to speak when the Kinect camera detects a person.

Webots simulation speaker