Design of a multi DoF haptic device for demonstration purpose

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The importance of the information derived from the touch and the kinesthetics is indicated by the fact, that there is a standalone expression, haptic (from the greek word „grip”), which applies to the sensory informations that are depending on the feeling of touch and kinesthetic sensing.

The aim of the haptic devices is to reproduce the feeling of touch, hence providing information to the user. This sensing can be helpful for for example the design of virtual objects simulated on the computer, or the remote control of devices. Haptic technology is actively used in our everyday life, as the signalling through vibration of the mobile phones is one example of it, and this field belongs to the widely researched and improving ones in engineering. In the future, it might be possible, that specific operations are performed by surgeons remotely.

The aim of my project is to build a multi degree of freedom device. Important design aspect is the cost of the project, therefore the used parts are mostly 3D printed. The other elements are basic ones, that can be obtained easily. In the posession of the necessary parts, the device can be built even by students that are not familiar in robotics, under supervision. With the built device, control design problems can be demonstrated, hence it can help gaining expertise in practice by implementing the theoretical designs.

Besides the building of the device this project contains the design of the hardware and software parts. Furthermore a user interface is implemented to record the data, and control the device. After processing the gathered data from the measurements, the control was implemented in simulation.


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