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Overview

Overview. Implement a Haptic Base Station Have its own microcontroller Ability to integrate with multiple devices Have a large LCD for display Knobs to set gains Software Add more virtual environments Implement Teleportation Create virtual environments for haptic knob. Motivation.

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Overview

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Presentation Transcript

  1. Overview • Implement a Haptic Base Station • Have its own microcontroller • Ability to integrate with multiple devices • Have a large LCD for display • Knobs to set gains • Software • Add more virtual environments • Implement Teleportation • Create virtual environments for haptic knob

  2. Motivation • Create a haptic base station that is modular • Master slave (impedance or admittance) • Haptic paddle • Haptic knob • Classroom teaching tool • Lab experiment equipment • Test bench for new haptic devices

  3. Teleoperator Mode • Two base stations can be connected together to be used for teleoperation. Haptic paddle Haptic paddle Haptic knob Haptic knob Admittance Device Admittance Device Master Slave

  4. Master – Slave System • Calculations and communication should be fast enough to implement 1 kHz Haptic loop. • Obtaining reliable force readings from the devices. • How linear motion translates to rotary motion? • Effects of Time Delay.

  5. Haptic Paddle • Get the current code working with the new haptic paddle • Add force sensor to handle • Organize the code to allow for expansion/future work • Add more virtual environments

  6. 1-DOF Haptic Knob • Easy to implement/ low costs • Almost impossible to damage the device or the user • Lots of virtual environments possible • Simple yet powerful tools that leverage physical intuition Haptic Clutch Alphabet Browser http://www.cs.ubc.ca/~maclean/publics/uist01-HapticMedia.pdf

  7. LCD Display • Allow user to easily navigate through different virtual environments • Display gains, forces, position ect… of haptic device • Allow user to set gains • Display messages

  8. Deliverables • Base Station • Microcontroller to interface with haptic device • Microcontroller to interface with LCD • Linear amp and PWM • Haptic paddle virtual environment • Rewrite existing code to work with all devices and add additional modes • Master Slave system • Impedance - Admittance • Admittance - Impedance • Impedance - Impedance • Haptic knob • Build stand • Implement virtual environments

  9. Thank You

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