WO2020081643A1 - Extension hardware device for physical controller - Google Patents

Abstract

A user-friendly physical extension hardware device/add-on for a physical controller enables a user to control the controller via any microcontroller-friendly input platform. The physical controller may be a KUKA robotics physical controller, such as a 4^th generation KRC4 controller which may also be known as a "teaching pendant". The extension hardware/add-on may be used to move the robot in real-time through direct interaction, controlling the physical controller's teach pendant.

Description

EXTENSION HARDWARE DEVICE FOR PHYSICAL CONTROLLER

[0001] This application claims the priority benefit of U.S. Provisional Application No. 62/746,015 filed October 16, 2018 and titled“EXTENSION HARDWARE FOR PHYSICAL CONTROLLER”, which is incorporated by reference in its entirety.

BACKGROUND

[0002] The present exemplary embodiment relates to extension hardware for a physical controller (e.g., for a KUKA robotics controller).

[0003] All of the previous solutions for the real-time controlling of the KUKA robots with KRC4 controllers are limited to custom or KUKA developed software packages. These software solutions need advanced programming and KUKA robotics knowledge.

[0004] It would be desirable to develop knew apparatuses and methods for controlling KUKA robots that do not require advanced programming or knowledge.

[0005] KUKA software packages also typically cost around $3000 and take around 2 hours to set-up.

[0006] It would also be desirable to develop new apparatuses and methods for controlling KUKA robots which are relatively inexpensive and plug-and-play.

BRIEF DESCRIPTION

[0007] The present disclosure relates to a hardware extension for a physical controller.

[0008] Disclosed in some embodiments is a hardware extension as described herein and/or as illustrated in the accompanying drawings.

[0009] Disclosed in other embodiments is a method for manufacturing a hardware extension as described herein and/or as illustrated in the accompanying drawings.

[0010] Disclosed in further embodiments is a method for controlling a robot using a hardware extension as described herein and/or as illustrated in the accompanying drawings.

[0011] The extension hardware device for a physical controller may include a shell comprising a microcontroller pocket, a controller pocket, and a plurality of motors. [0012] A microcontroller may be received within the microcontroller pocket. In some embodiments, the microcontroller is an Arduino microcontroller.

[0013] The plurality of motors may be received in a common motor pocket or a plurality of motor pockets. The motors may be individually controllable to facilitate activating/deactivating individual buttons on the controller.

[0014] The motors may be servo motors.

[0015] A network card (e.g., a wireless or wired card) may be received within the microcontroller pocket.

[0016] The shell may include a first shell component, a second shell component, and at least one fastener connecting the first shell component to the second shell component.

[0017] In some embodiments, the at least one fastener comprises a plurality of connecting pins.

[0018] The first shell component may contain the controller pocket, a portion or the entirety of the motor pocket, and a portion or an entirety of the microcontroller pocket.

[0019] In some embodiments, the second shell component contains at least a portion of the motor pocket and/or the microcontroller pocket.

[0020] The controller pocket may be configured to receive a KUKA teach pendant.

[0021] The extension hardware device may further include a microcontroller input device.

[0022] In some embodiments, the microcontroller input device is selected from the group consisting of a depth-sensing camera, a gaming controller, a cell phone, and a wearable sensor. Combinations of two or more of the aforementioned may also be used.

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following is a brief description of the drawings, which are presented for the purposes of illustrating the exemplary embodiments disclosed herein and not for the purposes of limiting the same. The dashed lines illustrate shapes/aspects that are generally hidden from view if the device is not transparent.

[0024] FIG. 1 is a first perspective view of the PX-Alpha Robot Operator.

[0025] FIG. 2 is a second perspective of the PX-Alpha Robot Operator with a KUKA

KRC4 teach pendant in its pocket. [0026] FIG. 3 is an exploded perspective view of the PX-Alpha Robot Operator.

[0027] FIG. 4 is a first side view of the PX-Alpha Robot Operator with a KUKA KRC4 teach pendant in its pocket.

[0028] FIG. 5 is a second side view of the PX-Alpha Robot Operator with a KUKA KRC4 teach pendant in its pocket.

[0029] FIG. 6 is a top view of the PX-Alpha Robot Operator with a KUKA KRC4 teach pendant in its pocket.

[0030] FIG. 7 is a further perspective view of the PX-Alpha Robot Operator with a KUKA KRC4 teach pendant in its pocket.

DETAILED DESCRIPTION

[0031 ] The present disclosure may be understood more readily by reference to the following detailed description of desired embodiments included therein. In the following specification and the claims which follow, reference will be made to a number of terms which shall be defined to have the following meanings.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. In case of conflict, the present document, including definitions, will control. Preferred methods and materials are described below, although methods and materials similar or equivalent can be used in practice or testing of the present disclosure. All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety. The materials, methods, and articles disclosed herein are illustrative only and not intended to be limiting.

[0033] The singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise.

[0034] As used in the specification and in the claims, the term “comprising” may include the embodiments “consisting of” and “consisting essentially of.” The terms “comprise(s),”“include(s),”“having,”“has,”“can,”“contain(s),” and variants thereof, as used herein, are intended to be open-ended transitional phrases that require the presence of the named ingredients/steps and permit the presence of other ingredients/steps. However, such description should be construed as also describing compositions, mixtures, or processes as“consisting of” and“consisting essentially of” the enumerated ingredients/steps, which allows the presence of only the named ingredients/steps, along with any impurities that might result therefrom, and excludes other ingredients/steps.

[0035] Unless indicated to the contrary, the numerical values in the specification should be understood to include numerical values which are the same when reduced to the same number of significant figures and numerical values which differ from the stated value by less than the experimental error of the conventional measurement technique of the type used to determine the particular value.

[0036] All ranges disclosed herein are inclusive of the recited endpoint and independently combinable (for example, the range of “from 2 to 10” is inclusive of the endpoints, 2 and 10, and all the intermediate values). The endpoints of the ranges and any values disclosed herein are not limited to the precise range or value; they are sufficiently imprecise to include values approximating these ranges and/or values.

[0037] As used herein, approximating language may be applied to modify any quantitative representation that may vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about” and“substantially,” may not be limited to the precise value specified, in some cases. The modifier“about” should also be considered as disclosing the range defined by the absolute values of the two endpoints. For example, the expression“from about 2 to about 4” also discloses the range“from 2 to 4.” The term“about” may refer to plus or minus 10% of the indicated number. For example,“about 10%” may indicate a range of 9% to 11 %, and“about 1” may mean from 0.9-1.1.

[0038] For the recitation of numeric ranges herein, each intervening number there between with the same degree of precision is explicitly contemplated. For example, for the range of 6-9, the numbers 7 and 8 are contemplated in addition to 6 and 9, and for the range 6.0-7.0, the number 6.0, 6.1 , 6.2, 6.3, 6.4, 6.5, 6.6, 6.7, 6.8, 6.9, and 7.0 are explicitly contemplated.

[0039] The present disclosure relates to a new solution for human-machine interaction in both industrial and creative robotic settings (e.g., using KUKA robots). The solution involves extension hardware for a physical controller. In non-limiting embodiments, the extension hardware may be referred to as the PX-Alpha Robot Operator and may be configured as an add-on to the KUKA KRC4 controller (also known as the“teach pendant” or“teaching pendant”).

[0040] In some embodiments, the PX-Alpha Robot Controller is a multi-input user- friendly extension hardware/add-on for a robot’s physical controller and allows controlling the industrial robot is real time. Connecting/attaching the operator to the teach pendant of the robot enables the user to control the robot using all six axes of freedom in real-time via any microcontroller friendly input. The operator can receive up to six multiple inputs to animate the six motion inputs of the robot - either controlling the six axes individually or controlling the end-effector using inverse kinematic through X, Y, Z for the position and A, B, C for the orientation.

[0041] The operator may include a microprocessor for controlling a plurality of servos and fit into a designed pocket. To trigger motion, the operator may use any micro- controller-friendly input platforms - based on the microcontroller of choice, including but not limited to Kinect (or any depth-sensing cameras), gaming controllers, color-based image processing, smart gloves, leap-motion sensor, cellphone applications, internet- based control, game-engine inputs, VR platforms, and wearable sensors such as muscle sensors. It is also possible to use all of the microcontroller-friendly programming platforms to activate/use the operator.

[0042] Programming may be limited to the connection of the input device to the operator’s microcontroller to animate the servo motors, which is accessible from many programming platforms.

[0043] As a physical add-on to the KUKA buttons on the pendant. A difference, however, is that this process can be controlled off-site and through almost infinite numbers of ways with any microcontroller-friendly inputs.

[0044] Multiple inputs can be used at the same time for the same or different inputs of the operator.

[0045] Different form KUKA software packages, PX-Alpha Robot Operator can use open-source software platforms including but not limited to Arduino, Python, Java, C#, C++, Mel and other visual programming platforms such as Grasshopper 3D.

[0046] Some advantages of the PX-Alpha Robot Operator over the previous solutions are: • an easy and intuitive learning process;

• affordable and open source;

• easy to develop based upon;

• customizable; and

• works both online and offline.

[0047] In the PX-Alpha Robot Operator, little or no programming may be required. Instead, an input device (Kinect, gaming controller, etc.) is connected to the PX-Alpha Robot Operator's microcontroller which is accessible from many programming platforms.

[0048] The connection may be a wired connection (e.g., USB) or a wireless connection.

[0049] Another advantage of PX-Alpha Robot Operator is the cost and time that it takes to have it set-up in comparison to previous methods. In particular, the PX-Alpha Robot Operator may reduce costs and time.

[0050] In some embodiments, PX-Alpha Robot Operator is plug-and-play.

[0051] In some embodiments, the extension hardware of the present disclosure is produced via additive manufacturing (e.g., 3D printing).

[0052] The extension hardware may be added to the KUKA robot KRC4 Controller teaching pendant. Inside the extension hardware, there may be a plurality of motors (e.g., servo motors). Attached to the end of the servo a customized two-legged head, may act as pushing mechanism to activate a button on the KUKA robot teaching pendant.

[0053] Using the microcontroller embedded into the extension hardware, the user can control the servo to press a button associated with the KUKA robot. The communication method between the user and the operator can happen through USB or wireless connection.

[0054] In some embodiments, it is possible to activate the PX-Alpha Robot Operator using any of the following programming platforms: Java, Python, C++, C Sharp, Grasshopper, and Processing, Software platforms like Rhino 3D, Autodesk MAYA, Matlab, Autodesk 3dsMAX, Unity 3D, Touch OSC, and any Arduino friendly sensors.

[0055] In some embodiments, the microcontroller-friendly input platform includes a depth-sensing camera (e.g., Kinect), a gaming controller, color-based image processing, smart gloves, cellphone applications, wearable sensors (e.g., muscle sensors), or any combination thereof.

[0056] In some embodiments, there are six servo motors controlled by a microcontroller with a limitation of rotation of 45 degrees. Attached to the end of the servo is a custom two-legged head which acts as a pushing mechanism to activate the controlling buttons of the teach pendant of the robot.

[0057] FIGS. 1 -7 illustrate various components and angles of a hardware extension in accordance with some embodiments of the present disclosure. The hardware extension may include two shell components connected via connector pins that extend into recesses in each shell component. The shell includes pockets for receiving a physical controller, a microcontroller and/or a wireless card, and a plurality of motors.

[0058] FIG. 1 is a first perspective view of an extension hardware device 100 in accordance with some embodiments of the present disclosure.

[0059] FIG. 2 is a second perspective view of the extension hardware device 100 of FIG. 1 with a KUKA KRC4 teach pendant in its pocket.

[0060] FIG. 3 is an exploded perspective view of the extension hardware device 100 of FIGS. 1 and 2.

[0061 ] FIG. 4 is a first side view of the extension hardware device 100 of FIGS. 1 -3 with a KUKA KRC4 teach pendant in its pocket.

[0062] FIG. 5 is a second side view of the extension hardware device 100 of FIGS. 1 - 4 with a KUKA KRC4 teach pendant in its pocket.

[0063] FIG. 6 is a top view of the extension hardware device 100 of FIGS. 1 -5 with a KUKA KRC4 teach pendant in its pocket.

[0064] FIG. 7 is a further perspective view of the extension hardware device of FIGS. 1 -6 with a KUKA KRC4 teach pendant in its pocket.

[0065] The extension hardware device 100 includes a shell 110 including a first shell part 112 and a second shell part 114. The device 100 may further include a plurality of connecting pins or other fasteners for securing the first shell part 112 and the second shell part 114 together. The first shell part includes first shell part opening 102 and the second shell part 114 includes second shell part openings 104. The shell 110 includes controller recess or pocket 120 for receiving a controller, a microcontroller pocket or recess for receiving a microcontroller, and a motor pocket 140 for receiving a motor. In some embodiments, the device 100 further includes a motor 145 received within the motor pocket 140 and a microcontroller received within the microcontroller pocket. The microcontroller may be connected to an input device (not shown) via a wireless connection (e.g., wireless card) and/or a wired connection (e.g., a cable 137 such as a USB cable). A controller 125 (e.g., a KUKA controller) may be received within the controller pocket 120. The controller 125 may be connected to a robot (not shown) via a wired connected or a wireless connection. The controller 125, microcontroller, and motor 145 may be powered from the same or different sources. The power source or sources may be portable (e.g., batteries) and/or hardwired (e.g., a power cord plugged into an electrical outlet) and/or wireless. In some embodiments, the microcontroller and the motor 145 share a common power source. In some embodiments, the controller 125, microcontroller, and motor 145 share a common power source. In other embodiments, the controller 125 does not share a common power source with the microcontroller and the motor 145.

[0066] In some embodiments, the extension hardware is powered via one or more USB ports (e.g., from a computer such as a laptop or a desktop, a power bank, or an outlet).

[0067] The extension hardware device 100 is generally configured such that a signal form an input device is received at the microcontroller which is connected to the motor 145 (e.g., via a wired or wireless connection). The signal may lead to a moving part 146 connected to the motor 145 to contact at least one button on the controller 125, thereby generating a signal from the controller 125 to the robot to perform a pre-designed movement pattern.

[0068] In some embodiments, the controller 125 includes a plurality of buttons and the extension hardware device comprises a plurality of motors 145 and associated moving parts 146. Each motor 145 may be associated with a single button or a plurality of buttons. In some embodiments, each motor 145 is associated with a plurality of moving parts 146 (e.g., legs) and each moving part 146 is associated with one or more buttons on the controller 125. [0069] In some embodiments, the controller 125 includes a plurality of buttons that the moving part connected to the motor 145 can contact. For example, the controller may include separate on and off buttons and/or separate forward and reverse buttons. In some embodiments, the buttons include an on/off button, a forward button, and a reverse button.

[0070] The moving part 146 may include a single contactor (e.g., leg) for contacting the one or more buttons. In other embodiments, the moving part may include a plurality of contactors. For example, the moving part 146 may include a distinct contactor associated with each button of the controller 125 (e.g., two contactors for two buttons on the controller, three contactors for three buttons on the controller, etc.). In some embodiments, the moving part 146 is the same or similar to the four leg configuration of FIG. 3. In other embodiments, the two upper legs may be omitted.

[0071 ] It is also contemplated that a plurality of moving parts may be included. The plurality may be associated with a common motor or a plurality of motors.

[0072] In particular embodiments, the moving part associated with the motor 145 includes two contactors (e.g., legs).

[0073] The shell 110 may include an opening 103 through which a corner of the controller 125 may extend or be received.

[0074] The first shell part 112 may include a recess or aperture 102 and the second shell part 114 may include a recess of aperture 104. These recesses/apertures may extend partially or completely through the shell 110. The recesses/apertures 102, 104 may together define a handle opening to facilitate handling the device 100.

[0075] When multiple moving parts are included, the moving parts may have the same or different sizes and/or shapes. For example, a plurality of legs, at least some of which may have different lengths, may be configured to press different buttons on the controller.

[0076] Methods of making and using the hardware device extension of the present disclosure are also disclosed. The methods generally include providing at least one signal from at least one input device to the hardware extension device. The signal(s) may be provided wirelessly, via a wired connection, or a combination thereof. The signal(s) may be provided via an automated process and/or from a user.

[0077] The shell may be optically transparent, translucent, or opaque. [0078] The shell optionally includes one or more additional openings extending therethrough. These openings may be used to secure the hardware device extension (e.g., to hold the hardware device extension in a human hand or to hang the hardware device extension from a hook).

[0079] In some embodiments, the openings serve an aesthetic function.

[0080] In some embodiments, the openings can be used to move the device.

[0081] The shell may contain at least one material selected from PLA (polylactic acid), ABS (acrylonitrile butadiene styrene), PET (polyethylene terephthalate), PETT (polyethylene trimethylene terephthalate), nylon, PVA (polyvinyl alcohol), sandstone, PS (polystyrene, e.g., high impact polystyrene), TPE (thermoplastic elastomer), and TPU (thermoplastic polyurethane).

[0082] The plastic material optionally includes one or more additives. Non-limiting examples of additives include carbon fibers, carbon nanotubes, graphene, antioxidants, stabilizers, and metals.

[0083] In some embodiments, the bounding box of the PX-Alpha Robot Operator in millimeters is 193.5 w X 342.5 L x 213.5 H.

[0084] In other embodiments, the extension hardware is configured to receive controllers from other companies (e.g., ABB, Fanuc and Staubli).

[0085] The PX-Alpha Robot Operator has some similarities to another device known as the PX01 -Switch (“PX-01 ). Both devices are designed to be attached to the robot controller (teaching/teach pendant). They each have a uniquely designed pocket to receive the teach pendant. That is the reason their names both starts with PX standing for“Pendant Extension.” Both devices are following the idea of hacking the“buttonpushing” by enabling the user to“remotely” push the buttons.

[0086] Although— as mentioned, the PX-Alpha and PX-01 share some similarities in their innovative ideas, they are very different on multiple levels, from design to hardware and function.

[0087] PX-Alpha controls 12 moving buttons (X, Y, Z potion data and A, B, C orientation data parameters or any of the robot’s six axes, in both positive and negative directions) on the teach pendant of the robot. In contrast, PX-01 controls two (play forward and play backward) buttons. [0088] PX-Alpha uses six different servo-motors to control its operation; however PX- 01 uses only one. This fact itself is a recognizable difference but it also fundamentally affects the performance of the PX-Alpha in contract to PX-01 as explained below.

[0089] Each of the six servo-motors of the PX-Alpha can control an individual axis of the robot or individual motion parameter (X, Y, Z, A, B, and C); however PX-01 is triggering/controlling one pre-designed motion that is a combination of all of the axes and motion parameters.

[0090] Each motor or motor attachment may be configured to press one or more buttons on the controller depending on a signal provided by the input device.

[0091] Another difference between PX-Alpha and PX-01 is in their ability to have multiple users at the same time. PX-Alpha (because of its six servo motors) can have six different direct inputs to operate each of the axes individually. In other words, PX-Alpha can have six direct users at the same time that can see the effect of their input directly/ separately. This opens up possibilities for ideas such as Tele-robotics where six people from six different locations connect to PX-Alpha through its microcontroller and each control a joint (axis) or position parameter. The functionality may be advantageous for at least two reasons. First, PX-Alpha enables the possibility for multiuser scenarios with minor coding/programming; this function is embedded in the hardware design of the tool. Second, PX-Alpha allows for direct feedback for each of the users, since they each are controlling an individual parameter. This is very different from the possibility of multi-user for PX-01 where it would mostly be possible through the software and possibly a mathematical operation, which would be more similar to voting. For instance, if three users out of five votes to move the robot, PX-01 would trigger the motion.

[0092] PX-Alpha is designed to control the robot and move the arm in real-time and without using a pre-programmed code. However, PX-01 is designed to trigger (play forward, stop, play backward) a pre-designed motion that is uploaded to the robot. In other words, with PX-Alpha user can move the robot in any direction (within the limitations of the robot), however, with the PX-01 the user can only move the robot forward and backward in a pre-designed path.

[0093] It is crucial to mention why both of these methods are needed and where each would be used. For instance, in a set-up that safety matters the most, for example, a robotic performance with a heat-gun or welding tool and in a limited space/room, it is essential to have a designed path and make sure with play/pause, the robot continues the same path. For this function, and to improve the safety of the operation, PX-01 would be a perfect match with its ability to play a pre-programmed code forward and backward and with the possibility of doing that wirelessly. In another example, for an interactive set- up in an exhibition or a museum, or in an experimental architectural form-finding set-up, the designer of the set-up would like the audience/users to interact with the robot directly and in real-time and intuitively learn how to move the robot. For instance, imagine a set- up where PX-Alpha is being used in conjunction with a Microsoft Kinect sensor as an input. Kinect detects and sends the position data from six joints of the user’s body in realtime to PX-Alpha. Using almost any microcontroller-friendly software platform, the “Designer” of the experience can assign any of those data parameters to any of the X, Y, Z, A, B or C parameter on the teaching pendant using PX-Alpha. Through this combination, the“user/audience” would be able to immediately learn how the movement of his/her joints are affecting the motion of the robot, and in a couple of minutes S/he would be able to control the motion of the robot in real-time in a performative way.

[0094] These are just two examples of many to illustrate the difference of PX-01 and PX-Alpha.

[0095] As explained in the drawings, there are also some significant design differences between PX-Alpha and PX-01. They are interacting with the teach-pendant differently. PX-Alpha hosts six servos with custom-design rotary heads; however, PX-01 only has one.

[0096] Although PX-Alpha and PX-01 are different extension hardware devices, it should be understood that various aspect of PX-01 may be incorporated into PX-Alpha and vice versa. The appendix provided herewith contains a more detailed discussion of PX-01 . Any aspects of the disclosure of the appendix may be utilized in conjunction with the operator of the present application.

[0097] In some embodiments, the functionality of PX-01 and PX-Alpha may be combined. For example, a device may include six servos for the X, Y, Z, A, B, and C parameters and a seventh servo for triggering a pre-designed motion that is uploaded to the robot. In some embodiments, the device can be switched between these modes on- site or off-site.

[0098] The extension hardware device may be used in a set-up where safety is critical. Non-limiting examples include robotic performance with a heat gun or welding tool and in a limited space/room.

[0099] In some embodiments, a plurality of microcontroller input devices are utilized by a plurality of users such that each user is responsible for one or more aspects of robot control. For example, each user may be responsible for controlling a single motor associated with one or more buttons or other inputs on the controller received by the extension hardware device.

[00100] It will be appreciated that variants of the above-disclosed and other features and functions, or alternatives thereof, may be combined into many other different systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art which are also intended to be encompassed by the following claims.

Claims

CLAIMS:

1 . An extension hardware device for a physical controller comprising:

a shell comprising a microcontroller pocket, a controller pocket, and a plurality of motors.

2. The extension hardware device of claim 1 , further comprising:

a microcontroller received within the microcontroller pocket.

3. The extension hardware device of any one of claims 1 and 2, wherein the motors are servo motors.

4. The extension hardware device of any one of claims 1 -3, further comprising: a wireless card received within the microcontroller pocket.

5. The extension hardware device of any one of claims 1 -4, wherein the shell comprises a first shell component, a second shell component, and at least one fastener connecting the first shell component to the second shell component.

6. The extension hardware device of claim 5, wherein the at least one fastener comprises a plurality of connector pins.

7. The extension hardware device of any one of claims 5 and 6, wherein the first shell component comprises the controller pocket, the motor pocket, and a first portion of the microcontroller pocket.

8. The extension hardware device of claim 7, wherein the second shell component comprises a second portion of the microcontroller pocket.

9. The extension hardware device of any one of claims 1 -8, wherein the controller pocket is configured to receive a KUKA teach pendant.

10. The extension hardware device of any one of claims 1 -9, further comprising: a KUKA teach pendant received within the controller pocket.

11. The extension hardware device of any one of claims 1-10, further comprising:

a microcontroller input device.

12. The extension hardware device of claim 11 , wherein the microcontroller input device comprises at least one of a depth-sensing camera, a gaming controller, a cell phone, and a wearable sensor.

13. An extension hardware device for a physical controller comprising:

a shell comprising a microcontroller pocket, a controller pocket, and a motor pocket;

a microcontroller received within the microcontroller pocket; and a plurality of motors received within the motor pocket.

14. The extension hardware device of claim 13, wherein the microcontroller is configured to be wirelessly connected to a microcontroller input device.

15. The extension hardware device of claim 13, wherein the microcontroller is configured to be connected to a microcontroller device via a wired connection.

16. The extension hardware device of any one of claims 13-56, wherein each motor is connected to a head configured for pressing one or more buttons on a controller received within the controller pocket.

17. The extension hardware device of claim 16, wherein the head is a two- legged head.

18. A method for operating a controller comprising: adjusting a microcontroller input device;

wherein the microcontroller input device is connected to a microcontroller; wherein the microcontroller is part of an extension hardware device comprising:

a shell comprising a microcontroller pocket, a controller pocket, and a motor pocket;

a microcontroller received within the microcontroller pocket; and a plurality of motors received within the motor pocket; and wherein the controller is received within the controller pocket.

19. The method of claim 18, wherein the extension hardware device further comprises a plurality of heads connected to each motor, wherein each head is configured to press one or more buttons on the controller based on a signal from the microcontroller input device.

20. The method of any one of claims 18 and 19, wherein the microcontroller input device comprises at least one of a depth-sensing camera, a gaming controller, a cell phone, and a wearable sensor.