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How to Build an Inexpensive 5-DOF Haptic Device Using Two Novint Falcons

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Haptics: Generating and Perceiving Tangible Sensations (EuroHaptics 2010)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 6191))

Abstract

We demonstrate how two Novint Falcons, inexpensive commercially available haptic devices, can be modified to a create a reconfigurable five-degree-of-freedom (5-DOF) haptic device for less than $500 (including the two Falcons). The device is intended as an educational tool to allow a broader range of students to experience force and torque feedback, rather than the 3-DOF force feedback typical of inexpensive devices. We also explain how to implement a 5-DOF force/torque control system with gravity compensation.

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References

  1. Martín, J., Savall, J.: Mechanisms for haptic torque feedback. In: Proc. Joint Eurohaptics Conf. and Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 611–614 (2005)

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  4. CHAI 3D: The open source haptics project, http://www.chai3d.org/

  5. Stamper, R.E.: A Three Degree of Freedom Parallel Manipulator with Only Translational Degrees of Freedom. PhD thesis, Department of Mechanical Engineering, The University of Maryland (1997)

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  6. Martin, S., Hillier, N.: Characterisation of the Novint Falcon haptic device for application as a robot manipulator. In: Proc. Australasian Conf. Robotics and Automation (2009)

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Utah, Salt Lake City, UT, 84112, USA

    Aman V. Shah, Scott Teuscher, Eric W. McClain & Jake J. Abbott

Authors
  1. Aman V. Shah
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  2. Scott Teuscher
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  3. Eric W. McClain
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  4. Jake J. Abbott
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Editor information

Editors and Affiliations

  1. Helmholtz Institute, Utrecht University, Padualaan 8, 3584, Utrecht, CH, The Netherlands

    Astrid M. L. Kappers  & Wouter M. Bergmann Tiest  & 

  2. TNO Human Factors, PO Box 23, 3769 ZG,, Soesterberg, The Netherlands

    Jan B. F. van Erp

  3. Delft University of Technology, Mekelweg 2, 2628, Delft, CD, The Netherlands

    Frans C. T. van der Helm

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© 2010 Springer-Verlag Berlin Heidelberg

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Cite this paper

Shah, A.V., Teuscher, S., McClain, E.W., Abbott, J.J. (2010). How to Build an Inexpensive 5-DOF Haptic Device Using Two Novint Falcons. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_21

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  • DOI: https://doi.org/10.1007/978-3-642-14064-8_21

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-14063-1

  • Online ISBN: 978-3-642-14064-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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