DESIGN AND DEVELOPMENT OF A NOVEL SINGLE DOF LINEAR HAPTIC SIMULATION DEVICE FOR EDUCATIONAL PURPOSES

Abstract

There has been a dire need for students to understand the vast and different concepts of science and technology. An immersive medium is required that aids in teaching these concepts, that is more versatile and easily available than orthodox teaching implements. Educational Haptic interfaces can be used to fulfill this requirement. Widespread educational haptic devices are limited in implementing large-ranging haptic scenarios due to limited force feedback output, workspace, and transparency (when no force feedback is required). The dynamics of the device will either limit the device’s force feedback capability or its transparency. Most pedagogical devices work out a compromise between force feedback, transparency, and workspace according to the application of the device. The device that is presented in this research supplements the limitations of implementing both force feedback and transparency with an increased workspace without having to compromise on any one capability. The research began by exploring different applications of haptic devices and identifying different properties and parameters that need to be considered while developing a haptic interface. Different educational haptic devices, their uses, and limitations were reviewed. Techniques from different complex haptic devices are explored to overcome the limitations imposed on them by their physical dynamics. Based on these insights, the requirements were determined for a good educational device that can be used for wide-ranging educational haptic applications. The haptic device was then designed by keeping in mind the limitations imposed on an educational haptic device and incorporating techniques from complex haptic devices to overcome these limitations. The haptic device working was then simulated in Simulink/MATLAB, and the mathematical model and its working were also simulated. The device was fabricated and tested with different haptic scenarios to verify and showcase the advantages and effectiveness of using the haptic device