1 Introduction to Haptics Introduction to the Hapkit board Allison M. Okamura Stanford University.

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Presentation transcript:

1 Introduction to Haptics Introduction to the Hapkit board Allison M. Okamura Stanford University

2 Hapkit board “ front ” Stanford University Introduction to Haptics © Allison M. Okamura, 2013 motor leads connector for FSR power LED connector for power adaptor (for motor) reset button Micro USB connector pins available for read/write 2

3 Hapkit board “ back ” Stanford University Introduction to Haptics © Allison M. Okamura, 2013 connector for power adaptor (for motor) Micro USB connector Micro SD card port MR sensor to motor digital input/output pins analog input pins 3

4 Introduction to Haptics Examples of kinesthetic/ force feedback haptic devices Allison M. Okamura Stanford University

5 Manipulandums Omega from Force Dimension delta configuration 3 degrees of freedom Phantom Premium 1.5 from SensAble/Geomagic 5-bar + rotation 3 degrees of freedom Virtuose from Haption additional “ wrist ” 6 degrees of freedom Stanford University Introduction to Haptics © Allison M. Okamura, 2013 all images from Wikimedia Commons 5

6 Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Hapkit force 6

7 Hapkit Kinematics Stanford University Introduction to Haptics © Allison M. Okamura,

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