The Snaptic Paddle: A Modular Haptic Device

Wong, C; Okamura, Allison M.

doi:10.1109/whc.2005.135

Cited by 14 publications

(6 citation statements)

References 6 publications

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“…Haptic paddles have been implemented in multiple senior/graduate level courses, with devices like The Box [10] acting as a plant for embedded controls curriculum. Other paddles adopt a modular approach, either by increasing the degrees of freedom like the Snaptic paddle [11], adding additional sensing such as force sensing or electromyography [12], or altering the haptic paddle plant, such as the series-elastic implementation of the HandsOn-SEA [13] for higher level course objectives.…”

Section: Haptic Paddle Designs and Role In Pedagogymentioning

confidence: 99%

A Ball and Beam Module for a Haptic Paddle Education Platform

Rose

Bucki

O’Malley

2017

Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Contr

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Single degree of freedom force-feedback mechatronic devices, often called haptic paddles, are used in university curriculum as well as massive open online courses (MOOCs). While devices differ based on the goals of a given course, broadly speaking they provide hands-on learning for students studying mechatronics and dynamics. We introduce the third iteration of the Haptic Paddle at Rice University, which has been modified to improve haptic performance and robustness. The modifications to the design increased device up time as well as the devices Zwidth. The performance improvement enables the addition of experimental plants to the haptic paddle base, which can be directed at advanced dynamics and controls courses, or special topics in mechatronics and haptics. The first module, a Haptic Ball and Beam, adds an underactuated plant for teleoperation or more complex control structures, and a testbed for haptic motor learning experiments in undergraduate coursework.

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Section: Haptic Paddle Designs and Role In Pedagogymentioning

confidence: 99%

A Ball and Beam Module for a Haptic Paddle Education Platform

Rose

Bucki

O’Malley

2017

Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Contr

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“…The design in Fig 1 was inspired by other haptic device designs [19][20][21][22][23][24], but with the specific goals of being low cost and versatile with a higher force capacity.…”

Section: Design Of Stiffness Adjusting System a Haptic Feedbackmentioning

confidence: 99%

An improved human-robot interface by measurement of muscle stiffness

Gallagher

McPherson

Huggins

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Human contact with haptic devices introduces instabilities due to human operators' attemps to stiffen their arm to stabilize the system. Controllers often cannot measure arm stiffness and do not typically account for this. A method to effectively adjust the controller of a robotic force assist device to compensate for changes in operator arm stiffness was established. It was expected to achieve reduced oscillations and increased performance than one with fixed gains. The results could be used to design human-robot interfaces for force assisting devices. The compensating system used EMG signals to measure muscle activity, then estimated the stiffness of the human's arm. This was used to adjust the parameters of a haptic device's impedance controller based on a threshold. The system was then implemented on a small haptic device to study the effects with a human subjects. EMG signals were experimentally validated as an effective prediction of the stiffness of an operator's arm. The system was assessed in terms of performance and was found to provide improved stability and demonstrated the potential for increased performance. I. INTRODUCTIONHaptic devices require physical contact between the operator and the machine, using force feedback and creating a coupled system including the operator and the robot. This introduces inherent instabilities due to the typical response of human operators [1][2][3][4]. Instability in large haptically controlled force assisting devices which aid human operators in manipulating heavy or bulky loads can pose undesired risks to the load and the operator. Human operators often attempt to control oscillation by stiffening their arm,leading to a stiffer system with more instability. Controllers do not typically account for this, as the level of stiffness is often not directly measurable.This research will design a control scheme that adjusts to changes in the way an operator grips a haptic controller to attempt to correct for this. It will adjust the control parameters based on the overall stiffness of the operator's arm, which is expected to achieve higher performance in robotic devices than a fixed control system. This study will consider the effects of such a system on haptic force assisting devices. The control scheme must acquire some metric to estimate the operator's arm stiffness, and electromyogram (EMG) signals are expected to be suitable, as they provide information about the internal state of an operator's muscles. This will be validated by testing if EMG signals can be used to accurately indicate the stiffness level of a human arm. It should then be possible to design a control scheme with

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“…Ref. [3] addresses the initiative and interest in engaging youngsters at K-12 level and the public in general in the use of haptics and the familiarization with this concept. The present work is motivated to pursue similar strategies with the following additional goals, namely:…”

Section: Introductionmentioning

confidence: 99%

Let's Use Haptics!

et al. 2013

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Abstract-The concept and the use of haptic devices need to be disseminated and they should become familiar among young people. At present haptics are used in many everyday tasks in different fields.Additionally, their use in interaction with virtual reality applications simulating real systems sense of touch will increase the users' realism and immersion and, consequently, they will contribute to improve the intrinsic knowledge to the simulations' goals.However, haptics are associated with expensive equipment and usually they offer several degrees of freedom. The objective of this work is to make their cost not much more expensive than a "special" mouse by offering a low cost solution with just one degree of freedom (1DOF) useful in many simple cases. Additionally, it is also an objective of this work the development of simple virtual reality systems requiring interactions only requiring one degree of freedom.A low cost, single-axis force-feedback haptic device of 1 degree of freedom has been developed. For evaluating the interest of this prototype a "Spring Constant" application was built and used as a demonstrator. The complete system -the haptic interacting with the "Spring Constant" -will be described in the present work.

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The Snaptic Paddle: A Modular Haptic Device

Cited by 14 publications

References 6 publications

A Ball and Beam Module for a Haptic Paddle Education Platform

A Ball and Beam Module for a Haptic Paddle Education Platform

An improved human-robot interface by measurement of muscle stiffness

Let's Use Haptics!

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