5DT Data Glove 16-W
Contents
1. If a glove cannot be found the exact reason for this will be displayed See the troubleshooting section in Chapter 5 for help Click the Close button to shut the connect dialog box In the main window the graphs will show the current flexure of the sensors As you flex and unflex your fingers the traces on the flexure graphs will move higher and lower respectively 12 3 3 The software calibration routine Each person has a different size hand The 5DT Data Glove is designed to fit most users comfortably but it needs to be calibrated in order to achieve the maximum sensitivity within an application It is important to note that this software calibration routine only calibrates the glove for use within the Glove Manager program It serves as an ilustration example only and it does not calibrate the glove for other programs applications You will have to develop a software calibration routine of your own for your applications The process of doing so is described in Appendix E Please note that the supplied Glove Driver features a built in software calibration routine Appendix D To calibrate the glove for use within Glove Manager select Calibrate from the Glove menu or click the corresponding toolbar icon The calibration dialog box will appear Calibration Figure 8 Calibrating the glove Range Setup Repeatedly flex and unflex each of your fingers It is important to keep your hand relaxed at all times keeping the mot2. Appendix D 5DT Data Glove Driver 1 Introduction The 5DT Data Glove Driver provides access to the 5DT range of data gloves at an intermediate level The Windows 95 98 NT version is provided in the form of a C C header h file a Microsoft Visual C library lib file and a dynamic link library dll file The Linux version is provided in form of a C C header h file and a dynamic library so file The driver functionality includes e Multiple instances e Easy initialization and shutdown e Basic raw sensor values e Scaled auto calibrated sensor values e Calibration functions e Basic gesture recognition e Cross Platform Application Programming Interface 2 Using the glove driver The 5DT Data Glove Driver is easy to implement Use the following guidelines 2 1 Windows 95 98 NT i Make sure that the header file fglove h the library file fglove lib and the dynamic link library file fglove dil reside in the current application directory or somewhere that they can be found The file fglove d11 may be copied into your Windows system directory ii Include the header file fglove h in the application where necessary iii Add the library file fglove 1ib to the link process There is a also a debug version of the driver fgloved lib fgloved dii1 which outputs debug messages to the debugger 2 2 Linux The driver requires the Linux Posix threads library libpthread so which is
3. 5DT Data Glove 16 W Wireless right and left 5DT Data Glove MRI 5DT Head Mounted Display HMD 5DT 3 DOF Orientation Tracker 5DT Space Controller Some of the Virtual Reality software and technology demonstrators that have been developed by 5DT include e Continuous Miner Training Simulator Mechanized Coal Mining High Voltage Yard Training Simulator High Voltage Line Inspection Training Simulator Air Traffic Control ATC Training Simulator Exposure Treatment Phobia Simulator Gastroscope Training Simulator Crane Operator Training Simulator VR FLO VIZ Virtual Wind Tunnel VR FLIGHT VIZ Tactical Training Simulator for air combat Integrated Virtual Battlefield Rocket Launcher Training Simulator Fiber Guided Video Missile Training System Landscape Generation and Real time Rendering Technology Unmanned Aerial Vehicle UAV Training Simulator 5DT also produces multimedia software Some of our existing products include e High Voltage Line Inspection Training System e High Voltage Line Repair Training System e High Voltage Line Visualization System e Gastroenterology Training System Most of our systems may be customized to suit specific end user requirements Some of the systems currently under development at 5DT e Virtual Binoculars e Bronchoscope Training Simulator e Attack Helicopter Tactical Training Simulator Advance information on these systems may be supplied on request 23 5DT USA and Americas Physical amp P
4. open gesture 45 The following gestures are currently defined right hand shown 3 2 Up Yours Middle finger point 0 Fist 1 Index finger point 3 Two finger point 6 Ring middle finger 7 Three finger point or 4 Ring finger point 5 Ring index finger point point not little finger point 9 Howzit index and 10 Little middle finger 8 Little finger point little finger point point 11 Not ring finger point 12 Little ring finger point 14 Not index finger 13 Not up yours point 15 Flat hand Figure 16 Gesture Illustrations 46 6 Auto calibration The driver can provide sensor outputs in an automatic linearly calibrated fashion During every update the raw value read from the sensor is compared to the current minimum and maximum raw values raWmn and raWma as set by the functions fdSetCalibrationAll fdSetCalibration or fdResetCalibration If the current minimum and maximum values are exceeded they are overwritten The upper and lower calibration values are therefore continuously pushed outwards The normalized output is given by the first order equation Mat PO nin Aggy F 1 which is in 0 Max The value of Max is set by the functions fdSetSensorMaxAll and fdSetSensorMax Doing a few flexing movements with the hand quickly sets the operating values for raWmin and faWmay and calibrates the glove The auto calibration process can be ignored by
5. 206 40 x 255 166 255 This routine could also be implemented dynamically where the glove calibrates itself while the user uses it The routine is similar to the normal calibration scheme with the difference that the minimum and maximum values are updated continuously The initial values for the minimum and maximum could be chosen as 126 and 128 respectively Please note that the 5DT Data Glove Driver includes a dynamic software calibration routine 48
6. PP3 9V Connect either the short or the long transmitter cable between the glove interface box and the transmitter unit eo ae E a 6 Switch the transmitter unit on 5 Always remember to switch the transmitter off after use The following diagram shows the wireless glove connected to the computer transmitter interface cable interface box transmitter computer SDT Data Glove 16 W A interface cable receiver Kl DB9 serial connector line voltage 9V DC power adapter Figure 5 The wireless glove connected to the computer 2 The transmitter interface cable comes in two lengths a short and a longer cable The short cable is intended for use when the transmitter unit is strapped to the wrist The longer cable enables the user to put the transmitter unit in his her pocket 2 4 Software installation The 5DT Data Glove 16 is supplied with a CD ROM and or a set of 31 2 disks These disks contain calibration and testing software applications drivers demos programming examples and this manual in electronic form Most of the supplied programs and software are intended for 32 bit Windows and require Windows 95 98 or Windows NT To install the software onto your computer insert the first disk or the CD into your disk drive run the program setup exe and follow the on screen instructions The suggested installation folder is c P
7. opto electronics interface cable ribbon cable lycra glove Figure 3 The components of the 5DT Data Glove 16 The 5DT Data Glove 16 connects to a 9 pin RS 232 serial port DB9 connector via the interface cable If the glove is to be used with a 25 pin serial port connector a 9 to 25 pin adapter may be used The recommended procedure for connecting the standard glove to the computer is as follows please refer to Fig 4 1 Connect the serial cable to the computer DB9 connector 2 Connect the power supply to the serial interface power cable 3 Connect the serial cable to the glove RJ12 connector The following diagram shows the glove connected to the computer interface box computer RJ12 connector interface cable DB9 serial connector 5DT Data Glove 16 line voltage 9V DC power adapter Figure 4 The standard glove connected to the computer 2 3 Connecting the wireless glove The wireless 5DT Data Glove 16 W is connected to the computer via a transmitter and a receiver unit The recommended procedure for connecting a wireless glove to the computer is as follows please refer to Fig 5 Connect the serial interface cable to the computer DB9 connector Connect the power supply to the serial interface power cable Connect the serial cable to the receiver unit RJ12 connector Place a battery in the transmitter unit
8. from the eh E Ee glove to a log file pa File Exit Close the program Alt F4 F Giovelconn ct Establish communication with the F5 glove via a COM port Glove Info Show the information returned by Ctri I the glove e g Version al Glove Calibrate Calibrate the glove for a certain F8 45 user s hand Glove Disconnect Disconnect the glove F12 SA Raw Data Shows raw data as it is received from Ctrl R the glove 4 A Scaled Data Shows data that has been scaled Ctrl4 S with the calibration routine View Options View and set the program settings F9 and display options Help About Display program information Table 1 Glove Manager menu structure and icons 11 3 2 Connecting the glove to the computer Before you can use the Data Glove you need to connect to it Choose Connect from the Glove menu or click on the corresponding toolbar icon The connect dialog box will appear showing a list of available ports Select the port e g COM2 where the glove is connected and then click the Connect button Connect to Glove X Ports Connect RI J Cous E F Unavailable Cancel Figure 7 Glove Manager s connect dialog box The program will switch from the Ports tab to the Connect tab and then attempt to open the port and connect to the glove The following message will be shown or a slight variation Opening port COM2 COM2 opened Detecting Data Glove 16 Data Glove 16 found Connected to Glove
9. int nSensor Obtains the maximum scaled value for a specific sensor Return value Returns the maximum scaled values of the sensor 40 Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being queried The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor void fdSetSensorMaxAll fdGlove pFG float pMax Sets the maximum scaled value for each sensor Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen pMax Array of floating point values that contains the maximum scaled sensor values The size of the array must always match the value returned by dGetNumSensors Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor void fdSetSensorMax fdGlove pFG int nSensor float fMax Sets the maximum scaled value for a specific sensor Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one fMax A floating point value that contains
10. one joint of a finger will count as a closed gesture 44 The built in gesture recognition capabilities of the glove driver is limited in scope and user independence High level gesture recognition algorithms that rely on training sequences are suggested for advanced applications 5DT Data Glove 5 E D c B sensor 5DT Data Glove 16 Sensor 12 13 9 10 6 7 3 4 Driver sensor index 12 13 9 10 6 7 3 4 Gesture d 0 0 0 0 0 Fist 16 0 1 0 0 0 1 Index finger point 16 1 2 0 0 1 0 Up yours 16 2 3 0 0 1 1 Two finger point 16 3 4 0 1 0 0 Ring finger point 16 4 5 0 1 0 1 Ring index point 16 5 6 0 1 1 0 Ring middle point 16 6 Three finger point a o l l Cor not little point Ia 8 1 0 0 0 Little finger point 16 8 9 1 0 0 1 Howzit 16 9 10 1 0 1 0 Little middle point 16 10 11 1 0 1 1 Not ring finger point 16 11 12 1 1 0 0 Little ring point 16 12 13 1 1 0 1 Not up yours 16 13 Not index finger 14 1 1 1 0 point 16 14 15 1 1 1 1 Flat hand 16 15 Table 4 Gesture definition scheme as implemented for the 5DT Data Glove Driver When the 5DT Data Glove 5 is used both these driver sensor indices will return the same value When the 5DT Data Glove 16 is used the driver sensor indices will return different values The maximum of the two values will be used to test for a flexed closed gesture and the minimum value of the two will be used to test for an unflexed
11. refer to the original 5 2 tilt angles sensor glove SDT Data Glove 5 The w suffix indicates a wireless model FD_GLOVE16 and FD_GLOVE16W refer to the 16 sensor glove In order to accommodate both glove types the fdGetNumSensors function currently returns 18 sensors The additional two sensors are defined as the original tilt angles that are not present in the 16 sensor glove See the description of fdGetNumSensors for more details int fdGetNumSensors fdGlove pFG Obtains the number of available sensors values the driver can make available Return value Returns the number of sensors Currently it is fixed at 18 but future driver releases may differ Parameters pFG Pointer to a glove device This is the value returned by fdOpen Remarks Although the 5 sensor glove can measure only average flexure the driver will attempt to fill in missing values The number of sensors returned can therefore be of a higher dimension The enumerated type EfdSensors defines the finger mapping for each sensor void fdGetSensorRawAll fdGlove pFG unsigned short pData Obtains the most recent raw sensor values from the currently connected glove Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen 34 pData Pointer to an array of 16 bit integers that will contain the raw sensor values The size of the array must always match the value returned by dGetNumSensors Remar
12. sensor values Refer to section 6 for details Remarks 39 For unmapped sensors it would be sensible to set the upper and lower calibration settings above and below the raw value forced with fdSetSensorRaw and fdSetSensorRawAll void fdResetCalibration fdGlove pFG Resets the internal auto calibration settings of the driver to appropriate default values Return value None Parameters DEG Pointer to a glove device This is the value returned by fdOpen Remarks This function is similar to the fdSetCalibrationAli function with each of the upper and lower calibration array values set to 0 and 4095 respectively This function or any of the other calibration functions should be called whenever the application starts up or the glove changes users during run time For unmapped sensors the upper and lower calibration values are set to 4095 and 0 respectively which is the nverse of the auto calibration settings void fdGetSensorMaxAll fdGlove pFG float pMax Obtains the maximum scaled value for each sensor Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen pMax Array of floating point values that will contain the maximum scaled sensor values The size of the array must always match the value returned by dGetNumSensors Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor float fdGetSensorMax fdGlove pFG
13. the information data block of the driver Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen pData Array of 32 bytes that will contain the information data Remarks The information data is a zero terminated string that contains driver information The size of the information block is always 32 bytes 5 Gesture definitions The currently defined set of gestures is comprised of binary open close configurations of the fingers excluding the thumb There are 2f 16 such possible combinations Gesture number 0 is defined as all the fingers excluding the thumb being closed and gesture number 15 as all the fingers open The index finger indicates the least significant bit For example the index finger point gesture will therefore be number 1 and the little finger point gesture number will be 8 An invalid unrecognizable gesture is defined as the value 1 A scaled sensor value of higher than the upper threshold setting will indicate a closed finger while a scaled sensor value of lower than the lower threshold setting will indicate an open finger A value in between is invalid and will result in an invalid gesture In the case of multiple finger joint angle measurements such as the 16 sensor glove the maximum of the individual joint sensor values is taken to obtain a closed gesture and the minimum to obtain an open gesture Closed gestures take precedence in other words bending only
14. the maximum scaled sensor value 41 Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor void fdGetThresholdAll fdGlove pFG float pUpper float pLower Obtains the current gesture recognition threshold settings of the driver Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen pUpper and pLower Arrays of floating point numbers that will contain the maximum and minimum threshold values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks None void fdGetThreshold fdGlove pFG int nSensor float pUpper float pLower Obtains the current gesture recognition threshold settings of the driver for a specific sensor Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being queried The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one pUpper and pLower Pointers to floating point numbers that will contain the maximum and minimum threshold values Refer to section 6 for details Remarks None void fdSetThresholdAll fdGlove pFG float pUpper float pLower 42 Sets the current gesture recognition threshold settings of the driver Return value None Parame
15. usually installed with Linux The driver is linked to libc6 29 2 2 1 Installing the library The driver is a dynamic library file 1ibfglove so which must be installed somewhere where applications can find it If you have root access to the system the easiest method is to copy the file into the usr 1ib directory e g cp libfglove so usr lib If you do not have root access to the system you should place the library somewhere in your home directory and then set the LD_LIBRARY_PATH environment variable to include the full path of the directory in which you have placed the library This will indicate to the dynamic library loader where to find the file For example mkdir home yourhomedir libs cp libfglove so home yourhomedir libs export LD_LIBRARY_PATH home yourhomedir libs In the above example replace yourhomedir with your own home directory name 2 2 2 Setting up access to the serial port The 5DT Data Glove accesses the serial port using the standard Unix Linux device files in the dev directory Applications that use the glove should typically give the user the option of specifying which device to check such as dev ttyS1 It is recommended that you create a symbolic link dev fglove to your device file e g cd dev In s ttyS1 fglove This may make the setup of applications easier should you need to change the port that the glove is connected to It is also required that the user of t
16. values The size of the array must always match the value returned by fdGetNumSensors Remarks The sensor range is a value from zero to the value defined by the fdSet SensorMax and fdSetSensorMaxAl1 functions The glove driver defaults to a range of 0 1 36 The automatic calibration process is described in section 6 The enumerated type EfdSensors defines the finger mapping for each sensor float fdGetSensorScaled fdGlove pFG int nSensor Obtains the most recent scaled auto calibrated value for a specific sensor from the currently connected glove Return value Returns a floating point sensor value Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one Remarks The sensor range is a value from zero to the value defined by the fdSet SensorMax and fdSetSensorMaxAll functions The glove driver defaults to a range of 0 1 The automatic calibration process is described in section 6 The enumerated type EfdSensors defines the finger mapping for each sensor int fdGetNumGestures fdGlove pFG Obtains the number of available gestures that can be recognized by the glove driver Return value Returns the number of available gestures Currently 16 different ge
17. 5DT Data Glove 16 5DT Data Glove 16 W Data gloves for the fifth dimension User s Manual SDT lt Fifth Dimension Technologies gt 5DT Data Glove 16 16 sensor data glove 5DT Data Glove 16 W Wireless 16 sensor data glove Data gloves for the fifth dimension User s Manual All rights reserved No part of this manual software or hardware may be copied reproduced translated or reduced to any electronic medium or machine readable format without the written consent of 5DT lt Fifth Dimension Technologies gt The owner of this product may however make copies of the software for backup purposes Windows is a registered trademark of Microsoft Corporation All other trademarks and tradenames are the respective property of their owners Unless otherwise indicated the term 5DT Data Glove 16 in this manual refers to both the standard and the wireless data glove The wireless glove will be indicated as 5DT Data Glove 16 W in circumstances where there are differences between the two devices 14 Sensors implemented as on 31 January 2000 Version 1 00 February 2000 Table of Contents TAN FRODUG TION EE 1 2 SETUP ANDOINS TAL EA TO EE 2 2 1 PACKAGE CONTENTS scccccccaucvceauceeseseueucceuueenuauaeauauaeauueauaseuauuauausuauavaeasavasaseneses 2 2 2 CONNECTING THE STANDARD GLOVE sccesceseeceueaseuseueuceueaueusaueaueutaueuuaueausuueusaususeueas 4 2 3 CONNECTING THE WIRELESS GLOVE cccccceceeseeeecuaueueusuvaueususavauaue
18. E E e tie 29 2 USING THE GLOVE DRIVER AAA NNN 29 3 SUPPORTED GLOVES scccecscncceceseccecususueceeususuuauaueusueauauaususaeauausaseeaeauseseeeeauausenas 31 4 FUNCTION REFERENCE csccccscececcceuecueuceesauauaeauavauaeesauesenaueeauassauauaeauaranauanenasenenes 33 5 GESTURE DEFINITIONS ERAN ANNER 44 6 AUTO CALIBRATION scccceccccccccececceucuseeceeueuseuavareusesasauausanaeauaeceeueaeauneneuenauarsenas 47 APPENDIX E SOFTWARE CALIBRATION isisicctsececices a eecessneceeetesiteceaetecies 48 1 Introduction Thank you for choosing this product We trust that you will have a lot of fun and satisfaction using it The 5DT Data Glove 16 measures finger flexure as well as the abduction between the fingers Finger flexure is measured at two places 1 joint knuckle 2 joint on each finger Although every effort has been made to ensure that this is a rugged product it must still be treated as a sensitive instrument Do not leave it in the same room as your pet velociraptor or chihuahua Features e Affordable quality e One size fits many e Extreme comfort e Automatic calibration minimum 8 bit flexure resolution e Platform independent serial port interface RS 232 e Bundled software e High update rate e Wireless version available SDT Data Glove 16 W e Low crosstalk between fingers e On board processor e Quick hot release connection e Cross platform drivers 2 Setup and I nstallation Please check to see that your 5DT Dat
19. a Glove 5 Sensor Driver Sensor Description Index A 0 1 Thumb flexure B 3 4 Index finger flexure C 6 7 Middle finger flexure D 9 10 Ring finger flexure E 12 13 Little finger flexure F 16 Pitch angle of tilt sensor G 17 Roll angle of tilt sensor Table 2 Sensor mappings for 5DT Data Glove 5 Both these driver sensor indices will return the same value when the 5DT Data Glove 5 is used 31 3 2 Sensor mappings for the 5DT Data Glove 16 The sensors on the 5DT Data Glove 16 are positioned as in Fig 15 Top of hand Right handed glove Figure 15 Sensor mappings for the 5DT Data Glove 16 Sensor Driver VD OO JO OM O Sensor Description Index 0 Thumb flexure lower joint 1 Thumb flexure second joint 2 Thumb index finger abduction 3 Index finger flexure at knuckle 4 Index finger flexure second joint 5 Index middle finger abduction 6 Middle finger flexure at knuckle 7 Middle finger flexure second joint 8 Middle ring finger abduction 9 Ring finger flexure at knuckle 10 Ring finger flexure second joint 11 Ring little finger abduction 12 Little finger flexure at knuckle 13 Little finger flexure second joint 14 Thumb translation not yet implemented 15 Wrist flexure not yet implemented Table 3 Sensor mappings for 5DT Data Glove 16 32 4 Function reference The following functions are provided by the driver fdGlove fdOpen char pPort Initia
20. a Glove package contains all the necessary items It will be difficult to properly install and use the product if any item is missing To connect the glove to your computer follow the instructions in the relevant section 2 1 Package contents The standard 5DT Data Glove 16 package consists of the following items Photograph not yet available on 31 January 2000 Figure 1 Package contents for the 5DT Data Glove 16 The 5DT Data Glove 16 with fiber optic sensors ribbon cable and processing unit The interface cable A power supply unit A set of installation disks and or CD ROM This manual SH Ee EE SS The package for the wireless 5DT Data Glove 16 W consists of the following items Photograph not yet available on 31 January 2000 Figure 2 Package contents for the 5DT Data Glove 16 W 1 The 5DT Data Glove 16 W with fiber optic sensors tilt sensor ribbon cable and processing unit The interface cable A power supply unit Wireless receiver unit Wireless transmitter unit Short transmitter interface cable Long transmitter interface cable This manual A set of installation disks and or CD ROM ee Rn E eee Please note that batteries are not included in the package 2 2 Connecting the standard glove The 5DT Data Glove 16 consists of a lycra glove with embedded fiber optic sensors These sensors are linked to the computer via an opto electronics unit a ribbon cable and an interface box interface box
21. be loaded simultaneously 3D Driver Bilinear Filtering Dual Texture Fogging Fill Point Wireframe Solid Open GL DirectX ver 7 0 Setup Help About Switch bilinear filtering on or off Switch dual texturing on or off Switch fogging on or off Shown the landscape object vertices only Show the landscape object in wireframe mode Show the landscape in solid fill mode Render the landscape object with Open GL Render the landscape object with DirectX 7 0 DirectX 7 0 needs to be installed This option allows the user to change DirectX or OpenGL settings according to which of the two is currently selected About 5DT Data Glove Demo The following toolbar options are available eS Lo Displays the About Box Opens the Connect Dialog Box Allows the user to rotate the viewpoint around the loaded object by left clicking and moving the mouse simultaneously Allows the user to move the viewpoint around the loaded object by left clicking and moving the mouse simultaneously Allows the user to zoom in and out with respect to the loaded object by left clicking and moving the mouse simultaneously 3 Dude is a relic from a bygone era He will be fashionable every 20 30 years 17 Using the Demo When a particular object or character is chosen a dialog box will appear with specific instructions on how to animate that specific object and or move around in the landscape 4 3 Glove Programming Examples Programming Examp
22. bsite www microsoft com directx 3 Glove Manager The 5DT Glove Manager is a useful program that may be utilized for the following e Connecting the 5DT Data Glove to the computer e Testing the 5DT Data Glove e Illustrating a software calibration routine for the data glove e Illustrating a data logging routine for the data glove 3 1 Running Glove Manager Start the program by running GloveMan exe which is installed in the Data Glove 16 GloveMan folder by default The main program window will appear toolbar menu bar trace view le ve ve Manager 16 16 E EE GE EE Ee Thumb Far Thumb Near Thumb Index Index Far Index Neer UN Index wu SN FT Vie Neer a Mie ing UN N N NA L N T wien BEEN weie BEEN le BEEN een BEEN status bar Figure 6 The Glove Manager main window The top of the window hosts a menu and a toolbar and there is a status bar at the bottom The trace view shows graphs of the flexure of the fourteen implemented sensors 10 The menu and toolbar provide access to all the program s functions The following table shows the menu structure and indicates what each icon is used for Icon Menu Command Description Shortcut d M D D D D Fi File Open Calibration Read the calibration information from F3 an existing calibration file mj File Save Calibration Save the current calibration F2 information to a file ri Save the data received
23. edback helps make this a truly great product 21 6 Warranty I nformation 6 1 Thirty 30 Day Customer Satisfaction Guarantee If for any reason you are disappointed with this product please contact your supplier If you are not completely satisfied you will be granted a full refund once the product is returned undamaged Unfortunately shipping costs cannot be refunded 6 2 One 1 Year Product Warranty 5DT warrants to the original purchaser of the 5DT Data Glove 16 or 5DT Data Glove 16 W that it will be free of defects in materials and workmanship for a period of one year from the original date of purchase During the warranty period 5DT will repair or replace with a reconditioned unit components that are defective Exclusions The above warranty is provided for private use only and shall not apply to any commercial use of the product including but not limited to e Location based entertainment LBE applications e Trade show demonstrations This warranty shall not apply to defects resulting from the following e Misuse e Improper or inadequate maintenance e Unauthorized modification 6 3 Warranty Claim I nstructions Please use the following procedure if you require warranty service 1 Contact your supplier to determine if you need to return the product If your supplier is unable to determine this contact 5DT directly Do not return a product to your supplier or to 5DT without first contacting them 2 Your supplier
24. er and pLower Pointers to 16 bit unsigned integers containing the maximum and minimum raw sensor values Refer to section 6 for details Remarks 38 None void fdSetCalibrationAll fdGlove pFG unsigned short pUpper unsigned short pLower Resets the current auto calibration settings of the driver to user defined values Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen pUpper and pLower Arrays of 16 bit unsigned integers containing the maximum and minimum raw sensor values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks For unmapped sensors it would be sensible to set the upper and lower calibration settings above and below the raw value forced with fdSetSensorRaw and fdSetSensorRawAll void fdSetCalibration fdGlove pFG int nSensor unsigned short nUpper unsigned short nLower Resets the current auto calibration settings of the driver for a specific sensor to user defined values Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one nUpper and nLower 16 bit unsigned integers containing the maximum and minimum raw
25. gain Could not read Glove information Corrupted info header received These messages indicate that a glove was found and it responded correctly however the glove information could not be read or was invalid Switch the glove off and back on again and then try again No data stream from Glove A working glove was found however it did not return a stream of data when requested to do so 5 2 Frequently Asked Questions FAQ Q A PO PO PO PO My glove is connected to COM2 but Glove Manager reports that this port is not available There may be a mouse driver or other program that has already opened that port Once a program or driver has opened a COM port no other program will be able to access that port until the first one closes Is it possible to use the glove in a LINUX environment Yes The 5DT Data Glove Driver is a cross platform driver and includes a LINUX driver Is it possible to use the glove in a UNIX environment Yes UNIX drivers are available Please contact 5DT for more information How do I clean my glove With a great deal of finesse The lycra part of the glove may be soaked in cold water with mild detergent but only after all the electronics have been disconnected This includes the interface box and the optical electronics board DO NOT soak the electronics DO NOT scrub dry clean or spin dry the lycra part To dry the lycra once it has been soaked carefully put it down on a towel and allow it
26. he glove has read write access to the serial port device file By default normally only the root user has these rights If non root users on the system will be using the glove the root user must grant access rights to the device file For example the following command will give everyone on the system full access to the serial port dev ttyS1 chmod 777 dev ttysS1 2 2 3 The header file The header file fglove h should be copied somewhere where your compiler can find it If you have root access the easiest is to copy it to usr include If not then just place the header file in the same directory as your application 2 3 Sample source code Sample source code that makes use of the glove driver is distributed with the driver 30 3 Supported gloves The glove driver supports all 5DT Data Gloves The current version implements 18 possible sensors and includes the roll and pitch sensors of the original 5DT Data Glove 5 The driver attempts to map values to all sensor outputs If it is unable to do so the sensor value defaults to a sensible value This value can be adjusted by forcing a specific value To the application programmer the driver therefore appears the same regardless of the type of glove that is connected 3 1 Sensor mappings for the 5DT Data Glove 5 The sensors on the 5DT Data Glove 5 are positioned as in Fig 14 Top of hand Right handed glove Tilt sensor Figure 14 Sensor positions for the 5DT Dat
27. inger mapping for each 35 sensor Forcing a sensor value will result in a raw and scaled output other than the default zero Values that can be mapped will be overwritten rendering the forced value void void fdSetSensorRaw fdGlove pFG int nSensor unsigned short nRaw Forces the raw value for a specific sensor Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one nRaw 16 bit raw value of the sensor If the sensor is unmapped the scaling calculations will proceed as normal Remarks The enumerated type EfdSensors defines the finger mapping for each sensor This function is only useful for sensors that cannot be mapped by a specific hardware device Forcing a sensor value will result in a raw and scaled output other than the default zero Values that can be mapped will be overwritten rendering the forced value void void fdGetSensorScaledAll fdGlove pFG float pData Obtains the most recent scaled auto calibrated sensor values from the currently connected glove Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen pData Pointer to an array of floating point numbers that will contain the scaled sensor
28. ion natural Do not force your hand As you move your fingers the minimum and maximum values of each of the sensors will be shown in the respective column and the dynamic range in the last column The current value of each sensor is shown in the first column Once you are satisfied that the minimum and maximum values have been set click the Apply button to end To save you time in the future you may want to save the calibration information to a file You may then load the calibration at any time very quickly Select Save Calibration or Load Calibration from the File menu of the main window 13 3 4 Saving the glove data to a log file There are situations where you may want to record the data received from the glove by saving it to a log file Glove Manager 16 can save the glove data in CSV Comma Separated Values format The CSV structure is very simple and files in this format can be read into programs such as Microsoft Excel very easily To save the glove data to a file open Glove Manager and choose Save Data from the File menu The following dialog box will appear Data log Comma Separated Values cs ie EW i Figure 9 Glove Manager s data log dialog box It is possible to change the following settings Format Filename Sample rate Sample time Raw data Scaled data Only CSV format is available at this time Enter the name of the file you want to create You can also click the disk icon to
29. ks Currently the raw sensor samples are all 12 bit unsigned values The range is therefore from 0 to 4095 Note that this is not the dynamic range of the sensors There can be severe offset values associated with each sensor The enumerated type EfdSensors defines the finger mapping for each sensor unsigned short fdGetSensorRaw fdGlove pFG int nSensor Obtains the most recent raw sensor value for a specific sensor from the currently connected glove Return value Returns a 16 bit integer See fdGet SensorRawAl11 for details Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one Remarks The enumerated type EfdSensors defines the finger mapping for each sensor void fdSetSensorRawAll fdGlove pFG unsigned short pData Forces the raw value for all the sensors Return value None Parameters DEG Pointer to a glove device This is the value returned by fdOpen pData Pointer to an array of 16 bit integers that will contain the raw sensor values The size of the array must always match the value returned by dGetNumSensors Remarks Currently the raw sensor samples are all 12 bit unsigned values The range is therefore from 0 to 4095 The enumerated type EfdSensors defines the f
30. les VC Sample Sample Source Code Microsoft Visual C 6 0 is supplied to illustrate how the Glove Driver may be used A Linux programming example is also available and can be found under the LINUX directory of your CD Disk 18 5 Troubleshooting and Support The following information is provided to help you diagnose any problems that may be encountered with your 5DT Data Glove 16 or 16 W Please carefully consult this section before contacting your supplier 5 1 General Troubleshooting If the glove is not working at all please work through the physical connection problems section of the troubleshooting procedure to identify the source of the problem Physical Connection Problems 1 Check that the glove is getting power A red light LED will be shining if the power is adequate Check that the power supply is 9V DC center positive 2 Check that the glove is connected to the right port Try to connect the glove to another port perhaps using a 9 to 25 pin adapter and try again 3 Check all the connections Chapter 2 has information on how to correctly connect the interface cable to the glove the power supply and the computer Refer to Fig 4 or Fig 5 4 Check the serial cable Consult the interface cable specifications in Appendix B You will find that a multimeter is helpful here 5 Check that the port is working Try connecting another device for example an external modem If the 5DT Data Glove is recognized by
31. lizes the glove device on the specified port Return value Returns a pointer to the glove device fdGlove NULL is returned if an error occurred Parameter pPort Pointer to a zero terminated ASCII string containing the name of the communication port Valid values on Windows range from COM1 to COM8 Unix Linux port names will differ Remarks Do not attempt to alter the contents of the returned pointer directly use the functions provided instead int fdClose fdGlove pFG Frees the glove device and communications port Return value Returns nonzero if successful zero if an error occurred Parameters pFG Pointer to a glove device This is the value returned by fdOpen Remarks It is important to call this function when you are finished using the glove int fdGetGloveHand fdGlove pFG Obtains the handedness left or right handed of the glove Return value Returns either FD_HAND_LEFT Or FD_HAND_RIGHT as defined by the enumerated type EfdGloveHand Parameters pFG Pointer to a glove device This is the value returned by fdOpen Remarks None 33 int fdGetGloveType fdGlove pFG Obtains the type of the currently connected glove Return value Returns one of FD_GLOVENONE FD_GLOVE7 FD_GLOVE7W FD_GLOVE16 or FD_GLOVE1 6w as defined by the enumerated type EfdGloveTypes Parameters pFG Pointer to a glove device This is the value returned by fdOpen Remarks FD_GLOVE7 and FD_GLOVE7w
32. or 5DT will issue you with a Return Material Authorization RMA number Do not return a product to your supplier or to 5DT without an RMA number 3 Pack the items to be returned securely using the original packaging material if possible Please do not ship the glove in an envelope use a cardboard box instead 4 Please enclose the following e Your original sales bill Name address contact telephone fax numbers E mail address Reason for returning the item RMA number 5 Mark your shipping container with the RMA number to expedite handling at your supplier or at 5DT 6 Ship prepaid to your supplier or to 5DT 7 When completing customs or courier documentation please clearly indicate Unit returned for repairs under warranty 5DT is not responsible for any damage that may occur during shipping Shipping charges to 5DT are your responsibility COD shipments will not be accepted by 5DT 22 7 About 5DT 5DT lt Fifth Dimension Technologies gt is a high technology company specializing in Virtual Reality VR 5DT develops produces and distributes affordable virtual reality hardware software and systems 5DT can also develop custom systems for all your VR needs 5DT s focus is Virtual Reality Training Systems and Virtual Reality Peripherals The Virtual Reality hardware currently produced by 5DT includes e 5DT Data Glove 5 Right and left 5DT Data Glove 5 W Wireless right and left 5DT Data Glove 16 Right and left
33. ors are the returned in this packet The packet consists of 36 bytes and has the following structure header jslhighl sllow sl6high s16low checksum trailer The is always two bytes long 0x3c an ascii lt decimal value 60 0x44 an AsciI D decimal value 68 After the header two bytes are sent for each sensor The high order byte is sent first then the low order byte The value of the sensor is therefore s_high x 256 s_low The checksum is the least significant byte of the addition of all the sensor values in the packet At the end of the packet a trailing byte with the value of 0x3E an AscII gt decimal value 62 is sent 27 ginfol16 This packet is sent occasionally It contains information about the glove header dij d i trailer The header is always two bytes long 0x3C an ASscII lt decimal value 60 0x46 an ascii I decimal value 71 The four bytes of data will always be defined as follows Byte 1 Version major for example the 1 in 1 04 Byte 2 Version minor for example the 04 in 1 04 Byte 3 Capability word low bit 0 is set if the glove is a right hand glove bit 6 is set if the glove is a left hand glove Byte 4 Capability word high bit 0 is set if the glove is a wireless glove At the end of the packet a trailing byte with the value of 0x3 an asciI gt decimal value 62 is sent 28
34. ostal Address 15375 Barranca Pkwy G 103 Irvine CA 92618 USA Tel 1 949 450 9044 Fax 1 949 450 9045 e mail info us 5dt com Web www 5dt com 5DT Rest of World Physical Address for courier deliveries not for mail 25 De Havilland Crescent Persequor Technopark Pretoria South Africa Postal Address mail only P O Box 5 Persequor Technopark 0020 PRETORIA South Africa Tel 27 12 349 2690 Fax 27 12 349 1404 Email info 5dt com Web www 5DT com 24 Appendix A Hardware Specifications MATERIAL FLEXURE RESOLUTION BEND SENSORS COMPUTER I NTERFACE POWER SUPPLY SAMPLING RATE TRANSMISSION FREQUENCY TYPI CAL WIRELESS RANGE Black stretch lycra 12 bit A D for each sensor Minimum dynamic range is 8 bits Proprietary fiber optic based flexor technology 2 sensors per finger 1 sensor between each finger Thumb position sensor and wrist flexure sensor not yet implemented Standard glove RS 232 3 wire GND TX 19200 bps transmit only 8 data bits 1 stop bit no parity Wireless glove RS 232 2 wire GND TX 9600 bps transmit only 8 data bits 1 stop bit no parity Maximum 150 mA 9 V DC Center positive DC power connector The full hand 14 sensors may be sampled at up to 100 samples per second Right handed wireless glove 418 MHz Left handed wireless glove 433 92 MHz Up to 30m Due to a program of continuous improvement these specifications are subjec
35. ression off Duplicate Suppression on 5DT Data Glove Log File 5DT Data Glove Log File DataType Raw DataT ype Raw Timestamp S1 S2 S3 S4 S5 Timestamp S1 S2 S3 S4 S5 0 136 93 96 83 99 0 136 93 96 83 99 3 134 93 94 83 98 3 134 94 98 7 134 92 93 82 97 7 92 93 82 97 10 131 91 93 81 96 10 131 91 81 96 14 129 90 92 81 95 14 129 90 92 95 17 126 89 92 80 95 17 126 89 80 21 124 88 91 80 92 21 124 88 91 92 24 120 88 91 80 92 24120 55 gt juve 28 120 88 91 81 92 28 81 pa 31 118 88 92 82 92 31 118 92 82 35 117 89 94 82 93 35 117 89 94 93 39 117 91 97 83 94 39 91 97 83 94 Listing 1 CSV File with suppression off and on The program does not output a value if it is the same as the previous sample of the corresponding finger Some programs will not be able to interpret the data if the duplicates have been suppressed 3 5 Changing the program options The Glove Manager has many options you can set to change how it works To change them start Glove Manager select View then Options The options dialog box will appear These are some of the options you can adjust Close connect dialog box on successful connection Check this option to force the connect dialog box to be automatically closed when a successful connection is made with a glove Show toolbar hints Check this option to enable the display of popup toolbar hin
36. rogram Files 5DT Data Glove 16 The software may however be installed in any folder of your choice You will be prompted to insert the other disks as they are required After installation you may use the setup program to create shortcuts in your Start menu and or on your desktop to the programs and documents that were installed Please take a careful look at the Readme txt file in the main installation folder This file explains the folders that were created during installation and lists the latest information The software installed on your hard drive during installation includes e Glove Manager more detail in section 3 GloveMan e Glove Driver more detail in Appendix D Driver Glove Demo more detail in section 4 2 Demo e Glove Programming Examples more details in section 4 3 Programming Examples VC Sample e Glove Manual Manual The default installation folder for shortcuts is Windows Start Menu Programs Data Glove 16 The shortcuts that will be created in this folder are e Glove Manager e Demo e Manual The CD ROM also contains the redistributable version of DirectX 7 0 You will need this if you want to run the DirectX implementations of the Glove Demos DirectX and OpenGL demos are supplied To install DirectX 7 0 open the DirectX7 0 folder on your CD ROM drive and run DxXSetup exe If you do not have the CD ROM you will need to download DirectX 7 0 from the Microsoft we
37. simply regarding only the raw sensor outputs It would be up to the application developer to provide a suitable calibration process Note that calibration is mandatory especially with the 16 sensor glove which contains no hardware calibration possibilities miniature preset potentiometers 47 Appendix E Software Calibration When the 5DT Data Glove is calibrated in the factory we try to obtain the largest possible dynamic range The dynamic range is the difference between the maximum output value flexed hand and the minimum output value flat hand Dynamic Range Value max Valuemin F 2 The dynamic range may differ when persons with different hand sizes use the glove We therefore recommend that a software calibration routine be included with all glove applications programs Software calibration normalizes the effect of different dynamic ranges for different hand sizes The software calibration routine should store the minimum and maximum values and scale the output for maximum dynamic range For example lets work through an example for the thumb The minimum value is 40 Valuemin The maximum value is 206 Value max The dynamic range is 206 40 166 To scale the measured values across the full dynamic range 256 values one therefore has to perform the following operation Valu scated ValUemeasurea Valenin X 255 Dynamic Range F 3 For 40 this becomes 40 40 x 255 166 0 For 206 this becomes
38. stures are supported Refer to section 5 for details Parameters pFG Pointer to a glove device This is the value returned by fdOpen Remarks None int fdGetGesture fdGlove pFG Obtains the current gesture being performed Return value Returns the current gesture being performed Refer to section 5 for details 37 Parameters pFG Pointer to a glove device This is the value returned by fdOpen Remarks None void fdGetCalibrationAll fdGlove pFG unsigned short pUpper unsigned short pLower Obtains the current auto calibration settings of the driver Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen pUpper and pLower Arrays of 16 bit unsigned integers that will contain the maximum and minimum raw sensor values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks None void fdGetCalibration fdGlove pFG int nSensor unsigned short pUpper unsigned short pLower Obtains the current auto calibration settings of the driver for a specific sensor Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen nsSensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one pUpp
39. t to change without prior notice 25 Appendix B I nterface Cable Technical Details C___s RJ12 P Connector DB9 Connector Figure 11 The interface cable RJ 12 connector glove side White Flat telephone cable 6 wire Blue Figure 12 RJ 12 Connector DB9 Connector Computer Side White DC J ack Socket Black 2 5mm Red Center Figure 13 DB9 Female Connector DB9 Pins Used 2 RD 3 TD 5 GND 7 RTS only for mouse emulation mode Pins 3 and 7 are only used in the 5DT Data Glove 5 26 Appendix C Serial Port I nterface Protocol The data glove is connected to the RS 232 port of the computer The 5DT Data Glove 16 is a transmit only device as it does not respond to any commands sent to it C1 Communications The 5DT Data Glove 16 has the following serial settings e 19200 bits per second e 8 data bits 1 stop bit no parity e Hardware handshaking none The serial link only utilizes the TX and GND lines The glove emits two different packets of information The first packet is transmitted continuously while the second packet is transmitted occasionally An example data stream from the glove could look as follows gdata16 gdatal6 gdatal6 ginfol6 gdatal6 gdatal6 These packets will now be discussed in more detail gdatal6 The measured flexures of each of the sens
40. ters pFG Pointer to a glove device This is the value returned by fdOpen pUpper and pLower Arrays of floating point numbers that contains the maximum and minimum threshold values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks None void fdSetThreshold fdGlove pFG int nSensor float fUpper float fLower Sets the current gesture recognition threshold settings of the driver for a specific sensor Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen nSensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one fUpper and flower Floating point numbers that contain the maximum and minimum threshold values Refer to section 6 for details Remarks None void fdGetGloveInfo fdGlove pFG unsigned char pData Obtains the information data block of the currently connected glove Return value None 43 Parameters pFG Pointer to a glove device This is the value returned by fdOpen pData Array of 32 bytes that will contain the information data Remarks The information data is specified in the glove user s manual The size of the information block is always 32 bytes void fdGetDriverInfo fdGlove pFG unsigned char pData Obtains
41. the right of the filename edit box This will open a save dialog box Here you can select Full Half or Quarter Selecting Full will save each data packet received from the glove to the log file The Half setting will only save every second packet and the Quarter setting will save every fourth packet Enter the maximum number of seconds you would like to record You can always click the Stop button to stop recording before this maximum time has expired Select this option if you would like to save the data exactly as it is received from the glove Select this option if you would like to save scaled calibrated data to the log file This option is only available if the user has run the calibration procedure or loaded a calibration file To start saving the data to the log file click the Start button Recording will stop automatically after the specified time interval or when the Stop button has been clicked 14 The last option is the Suppress Duplicates checkbox If you select this option then the program will only output a data value if it has changed You will want to select this option if you have developed your own processing software and wish to take advantage of the saving in disk space and quicker data processing times The following two CSV output samples show the difference between the two settings p ease note that all of the 14 sensors values will be recorded Listing 1 serves as an illustration only Duplicate Supp
42. to dry When the lycra has dried carefully clean the front ends of the optical fibers with a dry cotton bud before assembling the glove again Can I use four or more gloves on one machine at the same time 5DT just loves people like you The number of gloves is limited by the number of serial ports on your computer Multiport cards are available that have up to eight serial ports on them It is also possible to obtain a USB Universal Serial Bus device that has many RS 232 serial ports on it The software supplied with the glove will work with any Win32 port setting from COM1 to COM8 When I flex a finger the output does not change but stays at the maximum value What is the problem In this case it is possible that one of the fibers has failed The glove will then have to be returned to the supplier or 5DT for repairs 20 5 3 Support If you experience problems or have complaints suggestions or other comments please feel free to contact your supplier preferably via e mail Please have the following information available or include it in your written correspondence 1 Computer processor make and model e g Pentium II 350 2 Operating system and version 3 The symptoms of the problem and what was happening when the problem occurred 4 Can you reproduce the problem easily Describe how 5 Actions taken by yourself to solve the problem You may also contact 5DT directly Please refer to our contact details in section 7 Your fe
43. ts These hints explain what each icon represents and list the relevant shortcut key for that command You can change the appearance of the program by selecting one of the predefined color schemes It is also possible to create your own scheme by adjusting the colors 15 4 Other Software Please consult the Readme txt file in the main installation folder This file fully explains all the software that was installed on your hard drive 4 1 Glove Driver Driver The 5DT Data Glove Driver is explained in detail in Appendix D 4 2 Glove Demos Demo These Demos currently allow you to do the following View the animated hand on its own Use the animated hand to navigate a landscape Animate the movement of a character Animate the movement of a character in a landscape The Demo screen is shown in Fig 10 5DT Data Glove Demo OF Xx File View 3D Driver Help Menu Bar F olMst Toolbar Figure 10 Screen Shot of 5DT Data Glove 16 Demo 16 The following menu bar options are available File Exit View Toolbar Status bar Glove Settings Landscape Mode Object 1 None 2 Hand 3 Dude Allows you to exit from the program Display or hide the toolbar Display or hide the status bar Allows you to connect or disconnect the glove Switch the background landscape on or off No object loaded Animated hand loaded Animated character loaded Please take note that the landscape and an object may
44. usauauauaueueauauauseeanes 6 2 4 SOFTWARE INSTALLATION AAA ARA NNN 8 3 GLOVE MANAGER EE 10 3 1 RUNNING GLOVE MANAGER NNN 10 3 2 CONNECTING THE GLOVE TO THE COMPUTER ssseseceueusevaueueususauaususueaeauauaueueauauseeares 12 3 3 THE SOFTWARE CALIBRATION ROUTINE AANER 13 3 4 SAVING THE GLOVE DATA TO A LOG ELE NNN 14 3 5 CHANGING THE PROGRAM OPTIONS AAA NNN 15 4 OTHER SOR TVWAR E seco yd ccecnecca tance dE EE 16 4 1 GLOVE DRIVERS EEN 16 4 2 GLOVE DEMOS EE 16 4 3 GLOVE PROGRAMMING EXAMPLES AANER 18 5 TROUBLESHOOTING AND SUPPORT cccccececececeeeeceeueeeevevaveveueueuseneeaes 19 5 1 GENERAL TROUBLESHOOTING scccececcecuceccueueususevaueueusevavaueusauauaueusueauaueusesavauenss 19 5 2 FREQUENTLY ASKED QUESTIONS EREM ciusauicvarsiscusidpetiwadaandacndvedsevbaccvedeans cde deeg 20 B23 SUPPOR Mis areann esa waneccanata ce cua cect ee eege 21 6 WARRANTY INFORMATION ssscssescecececssscsecccveeeusuesssvareucusesenssssacavanes 22 6 1 THIRTY 30 DAY CUSTOMER SATISFACTION GUARANTEE sssseeeeeeeeeeeeeeeeeeesaaeeeeeeaes 22 6 2 ONE 1 YEAR PRODUCT WARRANT EE 22 6 3 WARRANTY CLAIM INSTRUCTIONS AAA ANN 22 TABOU RR HEEN 23 APPENDIX A HARDWARE SPECIFICATIONS a 25 APPENDIX B INTERFACE CABLE TECHNICAL DETAILS 26 APPENDIX C SERIAL PORT INTERFACE PROTOCOL cceceececeeeeeveverenenens 27 E We ei 1 Te ug re dE EE 27 APPENDIX D 5DT DATA GLOVE DRIVER ccececeececeeeveveuseseeeeerevevevavenees 29 L INTRODUCTION PE AAA EAE E eege EE E
45. your computer but not connecting properly proceed directly to the software connection problems section Software Connection Problems Run Glove Manager and select Connect from the Glove menu If the Ports tab is selected you will be able to see which COM ports are available Remember that not all available ports will be physically connected to a socket on the back of your computer Some ports may be unavailable because other programs have already taken control of the ports Examples are mouse drivers and fax or communication programs Select an available port and click the Connect button to search for a glove on that port If a glove is not detected one of the following error messages may be returned by Glove Manager Could not open COMx Glove Manager attempted to open the specified COM port but was not successful This is either because the port does not exist or because another program or device driver has already opened the port No response from Glove The port could be opened and data could be sent but no data or invalid data was returned by the glove No response from Glove could be a modem The port could be opened and data could be sent The data that was returned indicates that a modem may be connected to the specified port 19 Communication failed A glove could be detected but was not responding correctly This could indicate that the glove electronics are not functioning correctly Try switching the glove off and try a
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