3D Haptic Controller

Based on the semester project outcome of Louis Jouret (September 2021- January 2022). Supervisor Victor Borja Detailed information can be found in FlyingCelluloReport.pdf

Abstract

This project aims to study the feasibility of haptic feedback in a 3D space. There is an increasing demand for such solutions, mainly in rehabilitation since they remove the need for a daily appointment with a therapist and enable the gamification of rehabilitation. Some solutions already exist but remain very expensive since they are based on 3-axis arms. Nowadays, a lot of progress in the field of aerial robotics has been done and it is time to consider using the principles of flying drones to take over this task.

Chasis design and flow simulation

The first approach to the solution consist on a graspable device which includes 4 propellers. The device should account for the user safety as well as for the air flow of the chasis. The proposed solution flow simulation is presented bellow.

Trajectory control

To provide an adecuate haptic feedback the device needs to be controlled accuratelly, both to provide a good trajectory as well as "Reject disturbances", which in this case would consist on fighthing the weight of the hand, or providing a resistance against the movement as an exercise.

State of the protype and stabilization test

Bellow it can be found videos of the last stabilizing test:

Disturbance.mp4

Hand.mp4