Design of a Hapkit

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The Hapkit is a one degree-of-freedom impedance-type haptic device designed to model different simulated environments. The aim of the BSc final project is to design a Hapkit device, and execute the control of it.

The device is built from 3D printed parts, among them the appropriate ones are moved by a DC motor, that is driven by an H-bridge. The H-bridge receives its control and PWM (Pulse Width Modulation) signals from the digital outputs of an Arduino Nano board, that is also in charge of calculating the position of the handle. The Nano board calculates the position values according to the raw analog data read from the connected magnetoresistive sensor (KMA199) that senses the spin of an AlNiCo magnet fixed on one of the rotating parts of the Hapkit. The eletric circuit to connect these elements got designed with the additional capacitors, resistors and flyback diodes. When the code to simulate the virtual environments gets uploaded to the Arduino board the Hapkit functions as desired. The original 3D printed parts provided by Stanford University got redesigned during the final project, due to the features of the 3D printing technology and because of the modified solution during the construction. Five different virtual systems got programmed in the Arduino code and they got tested.

When the Hapkit functioned as planned the circuit got developed with the addition of an ESP8266-01 module. The module is able to connect to networks and got set up to function as server. The ESP got enabled to communicate with the Arduino Nano board, and an Android application got written as an attempt to send control data to the ESP server and change the simulated environment of the Hapkit during runtime. At the end of the final project it is described where the remote control process of the Hapkit got stuck, and a solution is outlined, that only works in theory.


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