Hapkit: Open Hardware and Software for Haptics Integrated with MATLAB

Transcription

1 Hapkit: Open Hardware and Software for Haptics Integrated with MATLAB Allison M. Okamura Associate Professor Department of Mechanical Engineering Stanford University

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3 Learning Method What one reads What one hears What one sees What one sees and hears What one speaks Retention 10% 26% 30% 50% 70% what about what one feels? J.E. Stice, Engineering Education, pp , 1987

4 Sequoia High School Redwood City, CA Warm Springs Elementary School Fremont, CA

5 impedance-type haptic devices SensAble Phantom Premium Force Dimension Omega Haptic paddle SensAble Phantom Omni Novint Falcon Haptic knob

6 haptic paddles Stanford University Johns Hopkins University University of Utah Rice University Vanderbilt University Northwestern University ETH-Zurich... and more for more information, see

7 Iterated on previous designs to lower cost, increase robustness, and ease assembly and maintenance Custom'PCB' SD'card'reader' Motor% Magnet%for% posi.on%sensing% Micro'USB'port' Magnetoresis5ve'' sensor'for' posi5on'sensing' Drive%wheel% Power%supply%port%

8 medium-scale production of kits design iterations

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10 educational applications online haptics course feedback control design course freshman lab course graduate haptics course

11 online haptics course Piloted Hapkit in a 5-week online haptics course 102 students admitted Population included high school, college, and graduate students, and professionals Topics included kinematics, force/torque relationships, mechatronics, programming virtual environments

12 online haptics course 77% completion rate (~10% for most MOOCs) 74.6% of post-course survey respondents enrolled because they strongly agreed that they wanted a course with hands-on experience Students reported that the #1 reason for their success in the course was the opportunity to assemble kit myself

13 educational applications online haptics course feedback control design course freshman lab course graduate haptics course

14 feedback control design course Des. grade Effort regulation Effort Homework Actual grade ENGR 105 No existing hands-on lab component No money, no equipment or computers, no space Students already use MATLAB and Simulink integrate MATLAB with Hapkit!

15 challenges Must run on students own computers (Windows and Mac), student version differs from professional Compelling haptic interaction for intuitive physical virtual environments to represent control concepts require fast (> 500Hz) loop For an introductory controls course, code must run as if continuous rather than discrete, and discrete elements should be hidden from students

16 implementation MATLAB 2013b SIMULINK ARM Cortex-M DSP System Toolbox SIMULINK support for Arduino Instrument Control Toolbox for serial data receiving User-Defined Function Library for embedding MATLAB functions into our simulink code S-Function Builder to create our own C functions to work with our Arduino Uno-type Hapkit board

17 proportional-integral control (PI) example

18 position-exchange teleoperation example

19 data receiver example Hapkit with PI control response to disturbance 0.01 displacement (m) Time (s)

20 making it work In order to create an S-function with a Mac, need to implement Mathworks workaround Created our own PWM Arduino block to set up a port and configure frequency to above hearing range Adding new blocks breaks things: Had to implement more functionality in each block (we don t understand exactly how much processing Simulink with Arduino is capable of handling) Reduce the number of embedded functions in our program and tried to make them as efficient as possible

21 Thank You! Tania Morimoto Melisa Orta Prof. Paolo Blikstein Mathworks Giampiero Campa Paul Kassebaum Stanford University VP for Online Learning School of Engineering See hapkit.stanford.edu for details