The HD² High Definition Haptic Device is a high-fidelity six Degrees of Freedom (DOF) haptic interface for advanced research in haptics and robotics. As a dexterous haptic device, HD² enables researchers to interact with virtual or remote environments using programmable force feedback and gives them uniquely large workspace and very low intervening dynamics. Combined with QUARC, Quanser’s powerful control design environment, it provides a flexible development test bed for various emerging applications such as virtual medical simulators and teleoperation.
In addition, the HD² High Definition Haptic Device can be combined with robot arms, such as VP-6 DENSO robot to create a bilateral teleoperation system suitable for research of force-feedback systems, telesurgery and remote manipulation.
Using seven high resolution optical encoders the operator’s motion can be tracked in six DOF (i.e. X, Y, Z, roll, pitch and yaw). The device can apply force to the user in five DOF (i.e. X, Y, Z, roll and pitch). HD² is also available in configurations with 6 DOF sensed/6 DOF actuated (with actuated roll at end-effector) and 7 DOF sensed/7 DOF actuated (with pincher).
In order to minimize the perceived weight over the entire workspace, adjustable brass counterbalances are mounted on each base. This state-of-the-art device is equipped with six built-in linear current amplifiers, which, along with the smart mechanical design, make it possible to achieve stiffness coefficients as high as 3,000 N/m.
This parallel mechanism is highly back drivable with negligible friction. The heavy-duty capstan drive within the device reduces the perceived inertia while maintaining rigidity of the device structure. Important features like the high-resolution optical encoder, high-performance DC motors and accurate kinematics allow for a high-precision robotics and haptics implementation that might have been more challenging to achieve in the past
The system includes a foot push pedal as an auxiliary digital input for switching applications.
The HD² High Definition Haptic Device is controlled via PC using Quanser’s QPIDe high-performance hardware-in-the-loop (HIL) control board. QUARC control software, which is seamlessly integrated with MATLAB®/Simulink® enables HD² users to facilitate an intuitive yet extremely flexible controller design environment while saving time.
The HD² High Definition Haptic Device is designed primarily for research applications. Currently, no courseware material for teaching labs is provided by Quanser.
To set up your HD² High Definition Haptic Device workstation, you need additional components. Quanser engineers recommend: