Haptic Paddle

Hello world! My name is Juanma Gandarias and I am the Haptics and Telerobotics coordinator of the TaISlab.  In this area we are working on haptics devices and telerobotics systems. Since 2014 we’ve focused on the haptic paddle project.  For now, we’ve developed three versions of the haptic paddle as you will see in this post.

Haptic paddle is an educational force feedback device which can be used to learn about control, dynamic systems, teleoperation and more.  The first haptic paddle was designed in the Stanford University in the mid-1990s and they are still working on this project.  Here you can see the history of the haptic paddle. Hapkit is the most recent version of the haptic paddle developed  in Stanford University, but there are other universities and labs in which are developing their own versions of the haptic paddle, like Vanderbilt, Rice or Zurich.

OUR FIRST VERSION OF THE HAPKIT 2.0

Our version of the Hapkit 2.0

Our version of the Hapkit 2.0

Returning to our own versions, all of them are based on Arduino and 3D printing. It has a MR sensor and a hapkit board, which is an all-in-one controller board designed in Stanford University.  Our first version of the haptic paddle was developed in 2015 and it was a version of the hapkit 2.0, the first 3D printed version of the hapkit. Our goal of this project was to test the 3D printed version and the friction wheel mechanism which is used in this haptic paddle. Besides, we introduced some modifications in the mechanical design, we introduced a  bearing instead of the collar to permit a better movement of the paddle and to make this model more accessible for non-american students or projects also by using mechanical elements of the metric system. In these two videos you can see the behaviour of this particular version of the hapkit simulating a  virtual wall and a virtual spring respectively.

 

 

THE GEAR VERSION OF THE HAPTIC PADDLE

Gear version of the haptic paddle

Gear version of the haptic paddle

In the figure above you can see our second version of the haptic paddle. It’s a prototype which has some differences from the first version. It has a gear mechanism instead  of the friction wheel, the sensor is an optical quadrature encoder and it has an Arduino DUE with a L298N motor driver. In the following video you can see  this device simulating a virtual spring.

 

OUR LAST VERSION. THE CAPSTAN DRIVE HAPTIC PADDLE

Capstan drive version

Capstan drive version

Our last version is now in the developing phase, the student Sepehr Akbari of the University of Malaga is working on the design to improve the mechanicals skills. It’s a capstan drive version which are tested using the hapkit board and the MR sensor as you can see in the following video.

More work about this project will be posted soon. Stay tuned!

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