Dynamic response of an educational haptics device with a viscoelastic force model for soft tissue

Haptic feedback devices allow human operators to experience the sense of touch in computer-based simulations. The Hapkit is one of the first devices of its kind to be developed for use in a classroom setting. Experiments were performed on a customized Hapkit to better understand its static and dynamic characteristics. Steady-state responses were obtained by applying an external force to the device, while dynamic response experiments were performed by releasing the device from an initial non-zero angle and measuring the resulting displacement. Experimental results revealed unmodeled dynamics that need to be compensated for when designing a force control law that accurately produces the desired behavior. Finally, a viscoelastic mode to simulate human tissue was implemented and observed through experimental testing. Opportunities for performance improvement in future refinements of the device were identified.