-
Notifications
You must be signed in to change notification settings - Fork 0
/
haptic-device.html
291 lines (250 loc) · 12.2 KB
/
haptic-device.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="description" content="">
<meta name="author" content="">
<link rel="shortcut icon" href="image/rpring.jpg">
<title>R Pringle</title>
<!-- Bootstrap core CSS -->
<link href="bower_components/bootstrap/dist/css/bootstrap.min.css" rel="stylesheet">
<!-- HTML5 shim and Respond.js IE8 support of HTML5 elements and media queries -->
<!--[if lt IE 9]>
<script src="../../assets/js/html5shiv.js"></script>
<script src="../../assets/js/respond.min.js"></script>
<![endif]-->
<!-- Custom styles for this template -->
<link href="carousel.css" rel="stylesheet">
</head>
<!-- NAVBAR
================================================== -->
<body>
<div class="navbar-wrapper">
<div class="container">
<div class="navbar navbar-inverse navbar-fixed-top">
<div class="container">
<div class="navbar-header">
<button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".navbar-collapse">
<span class="icon-bar"></span>
<span class="icon-bar"></span>
<span class="icon-bar"></span>
</button>
<a class="navbar-brand" href="index.html" id="title">Richard Pringle</a>
</div>
<div class="navbar-collapse collapse">
<ul class="nav navbar-nav">
<li class="active"><a href="haptic-device.html">Haptic Device</a></li>
<li><a href="wander.html">Wander Hotel App</a></li>
<li><a href="IDT.html">IDT</a></li>
<li><a href="atWork.html">At Work</a></li>
<li><a href="contact.html">Contact</a></li>
</ul>
</div>
</div>
</div>
</div>
</div>
<!-- Carousel
================================================== -->
<div id="myCarousel" class="carousel slide">
<div class="carousel-inner">
<div class="item active">
<div id="banner3" ></div>
<div class="container">
<div class="carousel-caption">
<h1>Desktop Haptic Device</h1>
</div>
</div>
</div>
</div>
</div><!-- /.carousel -->
<!-- Marketing messaging and featurettes
================================================== -->
<!-- Wrap the rest of the page in another container to center all the content. -->
<div class="container marketing">
<!-- START THE FEATURE -->
<!-- <div class="row details">
<div class="col-sm-4">
<img class="img-rounded img-responsive" src="image/handle-sheathed.jpg">
<div class="txt-overlay-handle">Sheathed</div>
</div>
<div class="col-sm-4">
<img class="img-rounded img-responsive" src="image/handle-unsheathed.jpg">
<div class="txt-overlay-handle">Angle of Attack</div>
</div>
<div class="col-sm-4">
<img class="img-rounded img-responsive" src="image/handle-unsheathed-needle.jpg">
<div class="txt-overlay-handle">Puncture</div>
</div>
</div>
<hr style="margin-top: 40px;"> -->
<div class="row details">
<div class="col-md-6">
<h1 class="text-left"><i>Objective</i></h1>
<p class="lead text-left font-19">
<br>To design and build a working prototype of a modular desktop haptic device. The device consists of a 5R parallel planar mechanism to achieve planar, 2 <em>degree-of-freedom</em> (DOF) motion. A third, redundant DOF is implemented to reconfigure the active base joints changing dynamic and workspace properties of the mechanism to use for specific tasks.
</p>
<p class="lead text-left font-19">
The <em>end-effector</em> (the joint that connects the red and green links in the illustration) is the point with which a human interacts. The rest of the mechanism is used to generate forces at that point and read its position.
</p>
</div>
<div class="col-md-6 marg-top">
<img class="img-rounded-lg img-responsive img-thumbnail" src="image/HD0.jpg" width="600" style="margin-bottom:20px;">
</div>
</div>
<hr class="margin-5">
<div class="row details">
<div class="col-lg-12">
<h1 class="text-left"><i>Iterative Design Process</i></h1>
<p class="lead text-left font-19">
<br>The initial design specifications were very open ended and therefore several desired attributes were realized at different iterations of the design. Lab-wide design reviews resulted in the discovery of new requirements, leading to more than ten different design revisions. The revisions with the greatest changes are depicted here.
</p>
</div>
</div>
<div class="row details">
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive img-thumbnail" src="image/HD1.jpg" width="600">
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD2.jpg" width="600" style="display:inline-block">
</div>
</div>
<div class="row details">
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD3.jpg" width="600" style="display:inline-block">
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD4.jpg" width="600" style="display:inline-block">
</div>
</div>
<hr class="margin-5">
<div class="row details">
<div class="col-lg-12">
<h1 class="text-left"><i>Base Joint Reconfiguration</i></h1>
<p class="lead text-left font-19">
<br>The base joints are reconfigured simultaneously and symmetrically using a <em>piston-crank-arm</em> mechanism driven by a stepper motor.
</p>
</div>
</div>
<div class="row details">
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD5.jpg" width="600" style="display:inline-block">
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD7.jpg" width="600" style="display:inline-block">
</div>
</div>
<div class="row details">
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD6.jpg" width="600" style="display:inline-block">
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD8.jpg" width="600" style="display:inline-block">
</div>
</div>
<hr class="margin-5">
<div class="row details">
<div class="col-lg-12">
<h1 class="text-left"><i>Actuated Joints</i></h1>
<p class="lead text-left font-19">
<br>The base joints are directly actuated by a DC motor with a <em>D-profile</em> hub. Other reconfiguration options are also being explored.
</p>
</div>
</div>
<div class="row details">
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD9.jpg" width="600" style="display:inline-block">
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD10.jpg" width="600" style="display:inline-block">
</div>
</div>
<hr class="margin-5">
<div class="row details">
<div class="col-lg-12">
<h1 class="text-left"><i>Passive Joints</i></h1>
<p class="lead text-left font-19">
<br>The passive joints use bearings and a pin to assure that any <em>"play"</em> is minimized.
</p>
</div>
</div>
<div class="row details">
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD11.jpg" width="600" style="display:inline-block">
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD12.jpg" width="600" style="display:inline-block">
</div>
</div>
<hr class="margin-5">
<div class="row details">
<div class="col-lg-12">
<h1 class="text-left"><i>Rapid Prototyped Parts</i></h1>
<p class="lead text-left font-19">
The project makes use of SLA rapid prototyping to minimize cost of manufacturing for a number of small parts.
</p>
</div>
</div>
<div class="row details">
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD13.jpg" width="600" style="display:inline-block">
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive" src="image/HD14.jpg" width="600" style="display:inline-block">
</div>
</div>
<hr class="margin-5">
<div class="row details">
<div class="col-lg-12">
<h1 class="text-left"><i>Control System</i></h1>
<p class="lead text-left font-19">
The control system utilizes the <em><a href="http://www.udoo.org" target="_blank">UDOO</a></em> multi-processor single-board-computer making use of the <em>Arduino</em> API (see <em>UDOO</em> website for details). Position is determined using quadrature encoders on the base joint actuators and decoded using LS7366 32-bit CMOS counters on two <em><a href="https://www.ghielectronics.com/catalog/product/465" target="_blank">GHI Pulse Count Modules</a></em> which communicate via SPI with the <em>UDOO</em> board.
</p>
</div>
</div>
<div class="row details" style="margin-bottom:20px;">
<div class="col-sm-6 marg-top">
<img class="img-rounded-lg img-responsive img-thumbnail" src="image/UDOO.jpg" width="600">
</div>
<div class="col-sm-6 marg-top">
<img class="img-rounded-lg img-responsive img-thumbnail" src="image/ghi.jpg" width="600">
</div>
</div>
<hr class="margin-5">
<div class="row details">
<div class="col-lg-6">
<h1 class="text-left"><i>Current Project Status</i></h1>
<p class="lead text-left font-19">
<br>The project was demonstrated at the IEEE World Haptics Conference in June 2015. <a href="dashboard/1.html">Here</a> is a temporary page explaining the details of the system architecture. You can also view a <a href="https://drive.google.com/file/d/0B_k0M0KGuVO1MjZ4dk5WU0h6OHN3dnBtOXNNTjVpXzRZc0VB/view?usp=sharing" target="_blank">video</a> of the demo in action.
</p>
</div>
<div class="col-lg-6 marg-top">
<img class="img-rounded-lg img-responsive img-thumbnail" src="image/HD.jpg" width="600">
</div>
</div>
<hr class="featurette-divider">
<div id="sections-btn"><a class="btn btn-default" href="index.html#projects">« Projects</a></div>
<hr class="featurette-divider">
<!-- /END THE FEATURE -->
<!-- FOOTER -->
<footer>
<!-- <p class="text-center text-muted" style="margin-top: -10px; margin-bottom: 40px;">
The Kapsus™ device for Transseptal Puncture is an investigational device not available for sale at this time.
</p> -->
<p class="text-center text-muted" style="margin-top: -10px; margin-bottom: 40px;">
This project is still under development.
</p>
<p class="pull-right"><a href="#">Back to top</a></p>
<!-- <p>© 2013 Bavaria Medical Technology, Canada Inc · <a href="#">Privacy</a> · <a href="#">Terms</a></p> -->
<p><a href="contact.html">Contact</a></p>
</footer>
<!-- /End Footer -->
</div><!-- /.container -->
<!-- Bootstrap core JavaScript
================================================== -->
<!-- Placed at the end of the document so the pages load faster -->
<script src="bower_components/jquery/dist/jquery.js"></script>
<script src="bower_components/bootstrap/dist/js/bootstrap.min.js"></script>
</body>
</html>