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Haptic technology has the potential to expand and transform the ways that students can experience a variety of science, technology, engineering, and math (STEM) topics. Designing kinesthetic haptic devices for educational applications is challenging because of the competing objectives of using low-cost components, making the device robust enough to be handled by students, and the desire to render high fidelity haptic virtual environments. In this paper, we present the evolution of a device called "Hapkit": a low cost, one-degree-of-freedom haptic kit that can be assembled by students. From 2013-2015, different versions of Hapkit were used in courses as a tool to teach haptics, physics, and control. These include a Massive Open Online Course (MOOC), two undergraduate courses, a graduate course, and a middle school class. Based on our experience using Hapkit in these educational environments, we evolved the design in terms of its structural materials, drive mechanism, and mechatronic components. Our latest design, Hapkit 3.0, includes several features that allow students to manufacture and assemble a robust and high-fidelity haptic device. First, it uses 3-D printed plastic structural material, which allows the design to be built and customized using readily available tools. Second, the design takes into account the limitations of 3-D printing, such as warping during printing and poor tolerances. This is achieved at a materials cost of approximately US $50, which makes it feasible for distribution in classroom and online education settings. The open source design is available at http://hapkit.stanford.edu.
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Open source, modular, customizable, 3-D printed kinesthetic haptic devices
Open Source Hardware allows users to share, customize, and improve designs, thus enabling technological advancement through communities of practice. We propose open source hardware for educational haptics that permits researchers, educators, and students to share designs arising from their different perspectives, with the potential to expand educational applications. In this paper we present a family of open source kinesthetic haptic devices that build upon the design of a previous educational haptic device, Hapkit 3.0. First, we discuss methods for Hapkit personalization and customization that can be achieved by K-12 students and educators. Next, we describe two kinesthetic haptic device designs that evolved from the original Hapkit 3.0. One uses two standard Hapkits with additional components to form a Pantograph mechanism, and the other uses customized Hapkit elements along with a novel kinematic design to form a serial mechanism. These designs are modular; after building two Hapkits, a user acquires a small number of additional parts to transform them into a two-degree-of-freedom device. The Pantograph mechanism was used in an undergraduate class to teach robotics and haptics to both engineering and nonengineering students. Open source designs for all devices as well as tutorials for customization are available at http://hapkit.stanford.edu.
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- Award ID(s):
- 1441358
- PAR ID:
- 10057536
- Date Published:
- Journal Name:
- IEEE World Haptics Conference
- Page Range / eLocation ID:
- 142-147
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/WHC.2017.7989891
