Discuss the disposition for the multihaptic actuators

[RiccardoGrieco]

For the complete development of weight retargeting application, the disposition of the multihaptic vibrators has to be discussed.

[RiccardoGrieco]

If we consider what can be achieved with #4, keeping in mind the notation node_id>@<vibrator_number to address a specific vibrator, we could use the same approach as the one from this paper.

In this sense we could provide each muscle of the arms with 1 or 2 actuators. Below, a proposal:

Left anterior forearm: 4@1 , 4@2 Left posterior forearm: 4@3, 4@4 Left anterior upper arm (biceps): 5@1, 5@2 Left posterior upper arm (triceps): 5@3, 5@4 Left infraspinatus: X@1, X@2 Left supraspinatus: X@3, X@4 Left pectoralis: X@5, X@6

Right anterior forearm: 8@1 , 8@2 Right posterior forearm: 8@3, 8@4 Right anterior upper arm (biceps): 7@1, 7@2 Right posterior upper arm (triceps): 7@3, 7@4 Right infraspinatus: Y@1, Y@2 Right supraspinatus: Y@3, Y@4 Right pectoralis: Y@5, Y@6

Where nodes X and Y can be placed behind the shoulders.

The rationale behind this proposal:

1. Most of the upper body is somehow covered, so it is suitable also for trying different approaches and also for the skin retargeting.
2. IMU data nodes are not loaded with more than 4 commands. Since we will necessarily extend the timeslots of the nodes, this choice provides a reasonable compromise between capabilities and time trade-off.
   Note that nodes X and Y have more actuators than others, because the idea is to not use them for collecting IMU data (even if it possible anyways).
3. Nodes associated to a body part have the actuators only on that same part.