3D Printed Haptic Paddle

This project is based on the development of a 3D printed haptic paddle for educational pourposes. The idea is to use this device as a tool for laboratory work on postgraduate subjects on teleoperation.

These kind of Haptics are cheap and easy to build and as you know this idea was born in Stanford University as “Hapkit” and throughout the years different universities including, of course, Stanford University, have been improving this device to make it cheaper and more functional.

In our area of engineering at University of Malaga we have been looking into different changes to improve its functionality. Sturdiness , functionality, tensing mechanism, friction and ease to make a 3D printed Haptic are our challenges.

Beggining with a gear version and followed by a capstan simple version we ended up making a new capstan version which includes a force sensor. we introduced a simple and funtional tensing system, low friction achieved with metrical rollers and a simple rail which allows us to use a hapkit board, an arduino or just a sensor board .


The evolution of our haptics


The lastest versions are thought to work with a force sensor


One of most important parts to improve was the “wheel”, you can check out the details in the picture and animation at the end of the page:

1-The head of the force sensor is thought to be comfortable, and to hide the nuts and screws.
2-The force sensor is hidden in the handle, this idea helps to protect the (galgas ) and make it more aesthetic
3- The nuts and screws are M3 with different lenghts depending on the different parts. You can check this out in the list of components.
4-Rollers, cheap and easy to find.
5- M8 Washers or printed Washers! It’s up to you.
6- Tensing sistem with nuts and screws.
7- Enough space to screw the force board.
8- Mechanical stop to not damage the cable.
9- A small brand to be sure that the cable is not skidding.

Soporte haptic

Front with boards-2     back

Here we have a  sturdiness support , with easy rail for the board,  you can check  the details on following animation:



stanford:             http://hapkit.stanford.edu/
Vanderbilt          http://research.vuse.vanderbilt.edu/MEDLab/haptic_paddle.html

For downloads visit our Github repository



Sepehr AKbari Kalhor
Juan Manuel Gandarias
Jesus Manuel Gómez de Gabriel