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

2. 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. 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. 4 Introduction to Haptics Examples of kinesthetic/ force feedback haptic devices Allison M. Okamura Stanford University

5. 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. 6 Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Hapkit force 6

7. 7 Hapkit Kinematics Stanford University Introduction to Haptics © Allison M. Okamura, 2013 7