The only thing that is difficult with this device, is to pronounce its name.
The Hatpic device is an open source 1 Degree of Freedom (DoF) haptic joystick.
The device is composed of power unit and handle with a knob. All the parts are shared and can simply be 3D printed without support:
The knob has to be screwed on the smart servo.
To reach the miniaturization of this haptic device, we developed a custom PCB. It allows low-level force control of the joystick and serial communication with the computer.
- Custom PCB
- STS3032 Smart servo
The main board that embeds an ESP32 has to be flashed with the software. It runs an inner loop with the force control, and communicates with a usb-c serial link with the joystick driver on the computer. Communication with universal robotic tools, using ROS1 or ROS2 can be acheived.