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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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cHand: Visualizing Hands in CHAI3D
Visualization of hand movement is an important part of many haptic experiences. While some existing simulators allow for hand kinematic visualization using a generic hand model, they target robotic grasp planning rather than haptic applications. We aim to fill this gap with cHand, an extension of the haptics software library CHAI3D, which augments it with built-in hand kinematic visualization capabilities. A representation of the hand can be achieved with elementary geometric elements, or with custom geometries loaded from STL files. A live data visualization demo is included, which can be used as a template for other applications. We release cHand as an open source contribution to keep with the open source nature of CHAI3D.
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- Award ID(s):
- 2102250
- PAR ID:
- 10298998
- Date Published:
- Journal Name:
- IEEE World Haptics Conference
- Page Range / eLocation ID:
- 354 to 354
- 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/WHC49131.2021.9517190
