2. Overview Implement a Haptic Base Station Software
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

3. 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

4. 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

5. 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.

6. 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

7. 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

8. 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

9. Deliverables Base Station Haptic paddle virtual environment
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

10. Thank You