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A simulated VR laboratory for human-robot control experiments 🤖

ArmSym is:

  • Written in Unity and C#.
  • Open source.
  • Compatible with the HTC Vive headset and trackers.

Alt Text

Welcome! 🎉

What is ArmSym?

ArmSym, stylized for 'arm simulation', is a Unity project for the HTC Vive. Using a simulation of a 7 degrees-of-freedom Barrett WAM robotic arm, ArmSym features a trial-based system, a data management pipeline, and a user interface. We tested ArmSym in one perceptual experiment contextualized in the domain of upper-limb prostheses, which we describe in a research paper.

Can I use ArmSym?

We release the code with the aim of helping researchers design experiments in which a human controls and interacts with a robotic arm. We target scientists who work on high-level upper limb prosthesis control or assistive robotic manipulators mounted on wheelchairs. We do not intend ArmSym's as a clinical tool.

Contents

We release with ArmSym a virtual version of the box and blocks test of manual dexterity. Included are:

  • Tutorials for researchers in the folder 'Documentation'.
  • A basic toolbox for control in the script 'armsym_robot.cs'.
  • Three off-the-shelf high-level control setups, one for prosthesis mimicking (control mode 0), one for arm imitation also known as inverse kinematics (control mode 1) and a master/slave order system (control mode 2).
  • One extra control mode for biosignal integration via LabStreamingLayer.
  • Compatibility with the HTC vive controller and trackers.
  • Hand control.
  • A data management system.

We have removed the human skin feature for the time being. Please create an issue if you would like to use it.

Requirements

ArmSym requires a computer capable of running VR . We strongly suggest using a good graphics card for Unity and the experiments. GTX 1070/1080 are a good fit. We also suggest using Unity 2017.3 or older.

Dependencies

Please see our dependency readme for information on how to install ArmSym's dependencies.

The ArmSym Project

Authors

ArmSym was developed at the Brain-Computer Interfaces Group in the Max Planck Institute for Intelligent Systems. The Unity Project was developed by M.Sc. Samuel Bustamante (@SamuelBG13) and Dr. Vinay Jayaram under the supervision of Prof. Dr. Moritz Grosse-Wentrup.

ArmSym was originally presented in Samuel's master's thesis, "A virtual reality environment for experiments in assistive robotics and neural interfaces".

License

Please refer to the MIT License.

Contributing

We welcome any contribution in the form of a Pull Request. Please don't hesitate to open an issue if you have any problems.

Copyright

Copyright (c) 2018, Max Planck Society - Max Planck Institute for Intelligent Systems.