This project is based on the development of a 3D printed haptic paddle for educational pourposes. Our goal is to use this device as a tool for laboratory work on postgraduate subjects on teleoperation.
Our prototype of our version of the 3D printed Stanford’s Hapkit V3.0 is now functional. It uses the same electronics and motor. The pulley sizes are the same, however the big wheel has been redesigned to properly attach and support the capstan cable. The support wall has been optimized and reinforced using dual common ball bearings.
All the bolts are now metric and simple to make them more available outside the U.S.A. (i-e- European continental countries).
It is fully compatible. The standard Hapkit Arduino software can be used and this device (when finished) may be used to follow their online courses too.
A demonstration of the virtual wall implementation is show in the video below.
Things to be improved:
- The base has to be completed.
- The ball bearings provide too much viscous friction. Perhaps we may use plastic bearings.
- The L298 electronics should be connected to the Arduino using in1/in2 signals to oimprove the actuator linearity.
This is our prototype of a haptic paddle using cheap motors with “high” resolution encoder.
These come from China (Ebay) and have a small metal pulley that I found to be a MXL 2.03mm pitch and 6mm width synchronous belt.
Add a 3d printed 160 tooth pulley (derived from a sketchup repository model) and a base (surprisingly a custom homemade prusa printer was good enough for this) and you get all the mechanics.
Also some software … and probably matlab/simulink.
more to come.