Development of a Low Cost Haptic Knob

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This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination. 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However, commercially available haptic devices are expensive and may not be suitable for educational purpose. This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination. End-effectors can be changed to suit different applications or variation in hand sizes and hand orientation." /> <meta property="og:url" content="https://zenodo.org/records/1080322" /> <meta property="og:site_name" content="Zenodo" /> <meta name="twitter:card" content="summary" /> <meta name="twitter:site" content="@zenodo_org" /> <meta name="twitter:title" content="Development of a Low Cost Haptic Knob" /> <meta name="twitter:description" content="Haptics has been used extensively in many applications especially in human machine interaction and virtual reality systems. Haptic technology allows user to perceive virtual reality as in real world. However, commercially available haptic devices are expensive and may not be suitable for educational purpose. This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination. 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<h1 id="record-title" class="wrap-overflowing-text">Development of a Low Cost Haptic Knob</h1> <section id="creatibutors" aria-label="Creators and contributors"> <div class="ui grid"> <div class="row ui accordion affiliations"> <div class="sixteen wide mobile twelve wide tablet thirteen wide computer column"> <h3 class="sr-only">Creators</h3> <ul class="creatibutors"> <li class="creatibutor-wrap separated"> <a class="ui creatibutor-link" href="/search?q=metadata.creators.person_or_org.name%3A%22Tan+Ping+Hua%22" > <span class="creatibutor-name">Tan Ping Hua</span></a> </li> <li class="creatibutor-wrap separated"> <a class="ui creatibutor-link" href="/search?q=metadata.creators.person_or_org.name%3A%22Yeong+Che+Fai%22" > <span class="creatibutor-name">Yeong Che Fai</span></a> </li> <li class="creatibutor-wrap separated"> <a class="ui creatibutor-link" href="/search?q=metadata.creators.person_or_org.name%3A%22Ricky+Yap%22" > <span class="creatibutor-name">Ricky Yap</span></a> </li> <li class="creatibutor-wrap separated"> <a class="ui creatibutor-link" href="/search?q=metadata.creators.person_or_org.name%3A%22Eileen+Su+Lee+Ming%22" > <span class="creatibutor-name">Eileen Su Lee Ming</span></a> </li> </ul> </div> </div> </div> </section> </section> <section id="description" class="rel-mt-2 rich-input-content" aria-label="Record description"> <h2 id="description-heading" class="sr-only">Description</h2> <div style="word-wrap: break-word;"> <p><p>Haptics has been used extensively in many applications especially in human machine interaction and virtual reality systems. Haptic technology allows user to perceive virtual reality as in real world. However, commercially available haptic devices are expensive and may not be suitable for educational purpose. This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination. End-effectors can be changed to suit different applications or variation in hand sizes and hand orientation.</p></p> </div> </section> <section id="record-files" class="rel-mt-2 rel-mb-3" aria-label="Files" ><h2 id="files-heading">Files</h2> <div class="ui accordion panel mb-10 open" href="#files-preview-accordion-panel"> <h3 class="active title panel-heading open m-0"> <div role="button" id="files-preview-accordion-trigger" aria-controls="files-preview-accordion-panel" aria-expanded="true" tabindex="0" class="trigger" aria-label="File preview" > <span id="preview-file-title">13008.pdf</span> <i class="angle right icon" aria-hidden="true"></i> </div> </h3> <div role="region" id="files-preview-accordion-panel" aria-labelledby="files-preview-accordion-trigger" class="active content preview-container pt-0 open" > <div> <iframe title="Preview" class="preview-iframe" id="preview-iframe" name="preview-iframe" src="/records/1080322/preview/13008.pdf?include_deleted=0" > </iframe> </div> </div> </div> <div class="ui accordion panel mb-10 open" href="#files-list-accordion-panel"> <h3 class="active title panel-heading open m-0"> <div role="button" id="files-list-accordion-trigger" aria-controls="files-list-accordion-panel" aria-expanded="true" tabindex="0" class="trigger"> Files <small class="text-muted"> (177.4 kB)</small> <i class="angle right icon" aria-hidden="true"></i> </div> </h3> <div role="region" id="files-list-accordion-panel" aria-labelledby="files-list-accordion-trigger" class="active content pt-0"> <div> <table class="ui striped table files fluid open"> <thead> <tr> <th>Name</th> <th>Size</th> <th class> <a role="button" class="ui compact mini button right floated archive-link" href="https://zenodo.org/api/records/1080322/files-archive"> <i class="file archive icon button" aria-hidden="true"></i> Download all </a> </th> </tr> </thead> <tbody> <tr> <td class="ten wide"> <div> <a href="/records/1080322/files/13008.pdf?download=1">13008.pdf</a> </div> <small class="ui text-muted font-tiny">md5:be2816a9f90075927c0ad5386d562509 <div class="ui icon inline-block" data-tooltip="This is the file fingerprint (checksum), which can be used to verify the file integrity."> <i class="question circle checksum icon"></i> </div> </small> </td> <td>177.4 kB</td> <td class="right aligned"> <span> <a role="button" class="ui compact mini button preview-link" href="/records/1080322/preview/13008.pdf?include_deleted=0" target="preview-iframe" data-file-key="13008.pdf"> <i class="eye icon" aria-hidden="true"></i>Preview </a> <a role="button" class="ui compact mini button" href="/records/1080322/files/13008.pdf?download=1"> <i class="download icon" aria-hidden="true"></i>Download </a> </span> </td> </tr> </tbody> </table> </div> </div> </div> </section> <section id="additional-details" class="rel-mt-2" aria-label="Additional record details"> <h2 id="record-details-heading">Additional details</h2> <div class="ui divider"></div> <div class="ui fluid accordion padded grid rel-mb-1"> <div class="active title sixteen wide mobile four wide tablet three wide computer column"> <h3 class="ui header"> <div id="references-accordion-trigger" role="button" tabindex="0" aria-expanded="true" aria-controls="references-panel" class="trigger" > <i class="caret right icon" aria-hidden="true"></i>References </div> </h3> </div> <div id="references-panel" role="region" aria-labelledby="references-accordion-trigger" class="active content sixteen wide mobile twelve wide tablet thirteen wide computer column" > <ul class="ui bulleted list details-list"> <li class="item">Nam, C.S. Nam and Shafieloo, I., "Haptic Virtual Environments as a Science Learning Supporting Tool: A Preliminary Study", Education and Technology, Jul 2006, Calgary, Canada.</li> <li class="item">Su, E. L. M., Ganesh, G., Yeong, C. F., Teo, C. L., Ang, W. T., and Burdet, E., "Effect of Grip Force and Training in Unstable Dynamics on Micromanipulation Accuracy", IEEE Trans. Haptics 2011 May ; 4 (3) : 167 - 174.</li> <li class="item">Okamura A. M., "Methods for haptic feedback in teleoperated robt-assisted surgery", Ind. Rob. 2004 December; 31 (6) : 499-508.</li> <li class="item">Loureiro, R., Amirabdollahian, F., Topping, M., Driessen, B. and Harwin, W., "Upper Limb Robot Mediated Stroke Therapy - GENTLE/s Approach", Autonomous Robots 2003 Jul; 15 (1):35-51.</li> <li class="item">Yamanouchi, W.; Yuki Yokokura; Katsura, S.; Ohishi, K., "Bilateral teleoperation with dimensional scaling for realization of mobile-hapto", 34th Annucal Conf. of IEEE Industrial Electronics, 10-13 Nov. 2008 , 1590 - 1595.</li> <li class="item">Jeffrey J. Berkley, "Haptic Devices", White paper by Mimic Tech. Inc. 2003. available online 30 Aug 2011: <a href="http://www.hitl.washington.edu/people/tfurness/courses/inde543/READI" rel="noopener">http://www.hitl.washington.edu/people/tfurness/courses/inde543/READI</a> NGS-03/BERKLEY/White%20Paper%20-%20Haptic%20Devices.pdf</li> <li class="item"><a href="https://www.sensable.com" rel="noopener">www.sensable.com</a></li> <li class="item">L Dovat, O Lambercy, Y Ruffieux, D Chapuis, R Gassert, H Bleuler, CL Teo, E Burdet, "A Haptic Knob for Rehabilitation of Stroke Patients", IEEE/RSJ International Conference of Intelligent Robots and Systems October 9-15, 2006, Beijing, China, 977-982.</li> <li class="item">Yeong, C.F., Melendez-Calderon, A., Gassert, R., Burdet, E., "ReachMan: a personal robot to train reaching and manipulation", in IEEE/RSJ International Conference on Intelligent Robots and Systems. March 9, 2009, St Louis, USA, 4080 - 4085. [10] <a href="https://www.arduino.cc" rel="noopener">www.arduino.cc</a> [11] <a href="https://www.e-shore.com.my" rel="noopener">www.e-shore.com.my</a></li> </ul> </div> </div> <div class="ui divider"></div> </section> <section id="citations-search" data-record-pids='{"doi": {"client": "datacite", "identifier": "10.5281/zenodo.1080322", "provider": "datacite"}, "oai": {"identifier": "oai:zenodo.org:1080322", "provider": "oai"}}' data-record-parent-pids='{"doi": {"client": "datacite", "identifier": "10.5281/zenodo.1080321", "provider": "datacite"}}' data-citations-endpoint="https://zenodo-broker.web.cern.ch/api/relationships" aria-label="Record citations" class="rel-mb-1" > </section> </article> <aside class="sixteen wide tablet five wide computer column sidebar" aria-label="Record details"> <section id="metrics" aria-label="Metrics" class="ui segment rdm-sidebar sidebar-container"> <div class="ui tiny two statistics rel-mt-1"> <div class="ui statistic"> <div class="value">83</div> <div 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machine interaction and virtual reality systems. Haptic technology allows user to perceive virtual reality as in real world. However, commercially available haptic devices are expensive and may not be suitable for educational purpose. This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination. End-effectors can be changed to suit different applications or variation in hand sizes and hand orientation.\u003c/p\u003e", "languages": [{"id": "eng", "title": {"en": "English"}}], "publication_date": "2011-10-23", "publisher": "Zenodo", "references": [{"reference": "Nam, C.S. Nam and Shafieloo, I., \"Haptic Virtual Environments as a\nScience Learning Supporting Tool: A Preliminary Study\", Education and\nTechnology, Jul 2006, Calgary, Canada."}, {"reference": "Su, E. L. M., Ganesh, G., Yeong, C. F., Teo, C. L., Ang, W. T., and\nBurdet, E., \"Effect of Grip Force and Training in Unstable Dynamics on\nMicromanipulation Accuracy\", IEEE Trans. Haptics 2011 May ; 4 (3) :\n167 - 174."}, {"reference": "Okamura A. M., \"Methods for haptic feedback in teleoperated\nrobt-assisted surgery\", Ind. Rob. 2004 December; 31 (6) : 499-508."}, {"reference": "Loureiro, R., Amirabdollahian, F., Topping, M., Driessen, B. and Harwin,\nW., \"Upper Limb Robot Mediated Stroke Therapy - GENTLE/s\nApproach\", Autonomous Robots 2003 Jul; 15 (1):35-51."}, {"reference": "Yamanouchi, W.; Yuki Yokokura; Katsura, S.; Ohishi, K., \"Bilateral\nteleoperation with dimensional scaling for realization of mobile-hapto\",\n34th Annucal Conf. of IEEE Industrial Electronics, 10-13 Nov. 2008 ,\n1590 - 1595."}, {"reference": "Jeffrey J. Berkley, \"Haptic Devices\", White paper by Mimic Tech.\nInc. 2003. available online 30 Aug 2011:\nhttp://www.hitl.washington.edu/people/tfurness/courses/inde543/READI\nNGS-03/BERKLEY/White%20Paper%20-%20Haptic%20Devices.pdf"}, {"reference": "www.sensable.com"}, {"reference": "L Dovat, O Lambercy, Y Ruffieux, D Chapuis, R Gassert, H\nBleuler, CL Teo, E Burdet, \"A Haptic Knob for Rehabilitation of\nStroke Patients\", IEEE/RSJ International Conference of Intelligent\nRobots and Systems October 9-15, 2006, Beijing, China, 977-982."}, {"reference": "Yeong, C.F., Melendez-Calderon, A., Gassert, R., Burdet, E.,\n\"ReachMan: a personal robot to train reaching and manipulation\", in\nIEEE/RSJ International Conference on Intelligent Robots and Systems.\nMarch 9, 2009, St Louis, USA, 4080 - 4085.\n[10] www.arduino.cc\n[11] www.e-shore.com.my"}], "resource_type": {"id": "publication-article", "title": {"de": "Zeitschriftenartikel", "en": "Journal article"}}, "rights": [{"description": {"en": "The Creative Commons Attribution license allows re-distribution and re-use of a licensed work on the condition that the creator is appropriately credited."}, "icon": "cc-by-icon", "id": "cc-by-4.0", "props": {"scheme": "spdx", "url": "https://creativecommons.org/licenses/by/4.0/legalcode"}, "title": {"en": "Creative Commons Attribution 4.0 International"}}], "subjects": [{"subject": "haptic"}, {"subject": "microcontroller"}, {"subject": "real time"}, {"subject": "virtual reality"}, {"subject": "rehabilitation"}], "title": "Development of a Low Cost Haptic Knob", "version": "13008"}, "parent": {"access": {"owned_by": {"user": "32148"}, "settings": {"accept_conditions_text": null, "allow_guest_requests": false, "allow_user_requests": false, "secret_link_expiration": 0}}, "communities": {"default": "a59dd046-9a86-4a47-97ce-b51f1bb8fc3f", "entries": [{"access": {"member_policy": "open", "members_visibility": "public", "record_submission_policy": "open", "review_policy": "open", "visibility": "public"}, "children": {"allow": false}, "created": "2017-05-31T21:24:26.028360+00:00", "custom_fields": {}, "deletion_status": {"is_deleted": false, "status": "P"}, "id": "a59dd046-9a86-4a47-97ce-b51f1bb8fc3f", "links": {}, "metadata": {"curation_policy": "", "description": "", "page": "", "title": "World Academy of Science, Engineering and Technology"}, "revision_id": 0, "slug": "waset", "updated": "2017-11-15T12:37:31.935319+00:00"}], "ids": ["a59dd046-9a86-4a47-97ce-b51f1bb8fc3f"]}, "id": "1080321", "pids": {"doi": {"client": "datacite", "identifier": "10.5281/zenodo.1080321", "provider": "datacite"}}}, "pids": {"doi": {"client": "datacite", "identifier": "10.5281/zenodo.1080322", "provider": "datacite"}, "oai": {"identifier": "oai:zenodo.org:1080322", "provider": "oai"}}, "revision_id": 8, "stats": {"all_versions": {"data_volume": 11710974.0, "downloads": 66, "unique_downloads": 63, "unique_views": 83, "views": 89}, "this_version": {"data_volume": 11710974.0, "downloads": 66, "unique_downloads": 63, "unique_views": 82, "views": 88}}, "status": "published", "ui": {"access_status": {"description_l10n": "The record and files are publicly accessible.", "embargo_date_l10n": null, "icon": "unlock", "id": "open", "message_class": "", "title_l10n": "Open"}, "created_date_l10n_long": "January 18, 2018", "creators": {"affiliations": [], "creators": [{"person_or_org": {"family_name": "Tan Ping Hua", "name": "Tan Ping Hua", "type": "personal"}}, {"person_or_org": {"family_name": "Yeong Che Fai", "name": "Yeong Che Fai", "type": "personal"}}, {"person_or_org": {"family_name": "Ricky Yap", "name": "Ricky Yap", "type": "personal"}}, {"person_or_org": {"family_name": "Eileen Su Lee Ming", "name": "Eileen Su Lee Ming", "type": "personal"}}]}, "custom_fields": {}, "description_stripped": "Haptics has been used extensively in many applications especially in human machine interaction and virtual reality systems. 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Haptic technology allows user to perceive virtual reality as in real world. However, commercially available haptic devices are expensive and may not be suitable for educational purpose. This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination. End-effectors can be changed to suit different applications or variation in hand sizes and hand orientation.\u003c/p\u003e", "languages": [{"id": "eng", "title": {"en": "English"}}], "publication_date": "2011-10-23", "publisher": "Zenodo", "references": [{"reference": "Nam, C.S. Nam and Shafieloo, I., \"Haptic Virtual Environments as a\nScience Learning Supporting Tool: A Preliminary Study\", Education and\nTechnology, Jul 2006, Calgary, Canada."}, {"reference": "Su, E. L. M., Ganesh, G., Yeong, C. F., Teo, C. L., Ang, W. T., and\nBurdet, E., \"Effect of Grip Force and Training in Unstable Dynamics on\nMicromanipulation Accuracy\", IEEE Trans. Haptics 2011 May ; 4 (3) :\n167 - 174."}, {"reference": "Okamura A. M., \"Methods for haptic feedback in teleoperated\nrobt-assisted surgery\", Ind. Rob. 2004 December; 31 (6) : 499-508."}, {"reference": "Loureiro, R., Amirabdollahian, F., Topping, M., Driessen, B. and Harwin,\nW., \"Upper Limb Robot Mediated Stroke Therapy - GENTLE/s\nApproach\", Autonomous Robots 2003 Jul; 15 (1):35-51."}, {"reference": "Yamanouchi, W.; Yuki Yokokura; Katsura, S.; Ohishi, K., \"Bilateral\nteleoperation with dimensional scaling for realization of mobile-hapto\",\n34th Annucal Conf. of IEEE Industrial Electronics, 10-13 Nov. 2008 ,\n1590 - 1595."}, {"reference": "Jeffrey J. Berkley, \"Haptic Devices\", White paper by Mimic Tech.\nInc. 2003. available online 30 Aug 2011:\nhttp://www.hitl.washington.edu/people/tfurness/courses/inde543/READI\nNGS-03/BERKLEY/White%20Paper%20-%20Haptic%20Devices.pdf"}, {"reference": "www.sensable.com"}, {"reference": "L Dovat, O Lambercy, Y Ruffieux, D Chapuis, R Gassert, H\nBleuler, CL Teo, E Burdet, \"A Haptic Knob for Rehabilitation of\nStroke Patients\", IEEE/RSJ International Conference of Intelligent\nRobots and Systems October 9-15, 2006, Beijing, China, 977-982."}, {"reference": "Yeong, C.F., Melendez-Calderon, A., Gassert, R., Burdet, E.,\n\"ReachMan: a personal robot to train reaching and manipulation\", in\nIEEE/RSJ International Conference on Intelligent Robots and Systems.\nMarch 9, 2009, St Louis, USA, 4080 - 4085.\n[10] www.arduino.cc\n[11] www.e-shore.com.my"}], "resource_type": {"id": "publication-article", "title": {"de": "Zeitschriftenartikel", "en": "Journal article"}}, "rights": [{"description": {"en": "The Creative Commons Attribution license allows re-distribution and re-use of a licensed work on the condition that the creator is appropriately credited."}, "icon": "cc-by-icon", "id": "cc-by-4.0", "props": {"scheme": "spdx", "url": "https://creativecommons.org/licenses/by/4.0/legalcode"}, "title": {"en": "Creative Commons Attribution 4.0 International"}}], "subjects": [{"subject": "haptic"}, {"subject": "microcontroller"}, {"subject": "real time"}, {"subject": "virtual reality"}, {"subject": "rehabilitation"}], "title": "Development of a Low Cost Haptic Knob", "version": "13008"}, "parent": {"access": {"owned_by": {"user": "32148"}, "settings": {"accept_conditions_text": null, "allow_guest_requests": false, "allow_user_requests": false, "secret_link_expiration": 0}}, "communities": {"default": "a59dd046-9a86-4a47-97ce-b51f1bb8fc3f", "entries": [{"access": {"member_policy": "open", "members_visibility": "public", "record_submission_policy": "open", "review_policy": "open", "visibility": "public"}, "children": {"allow": false}, "created": "2017-05-31T21:24:26.028360+00:00", "custom_fields": {}, "deletion_status": {"is_deleted": false, "status": "P"}, "id": "a59dd046-9a86-4a47-97ce-b51f1bb8fc3f", "links": {}, "metadata": {"curation_policy": "", "description": "", "page": "", "title": "World Academy of Science, Engineering and Technology"}, "revision_id": 0, "slug": "waset", "updated": "2017-11-15T12:37:31.935319+00:00"}], "ids": ["a59dd046-9a86-4a47-97ce-b51f1bb8fc3f"]}, "id": "1080321", "pids": {"doi": {"client": "datacite", "identifier": "10.5281/zenodo.1080321", "provider": "datacite"}}}, "pids": {"doi": {"client": "datacite", "identifier": "10.5281/zenodo.1080322", "provider": "datacite"}, "oai": {"identifier": "oai:zenodo.org:1080322", "provider": "oai"}}, "revision_id": 8, "stats": {"all_versions": {"data_volume": 11710974.0, "downloads": 66, "unique_downloads": 63, "unique_views": 83, "views": 89}, "this_version": {"data_volume": 11710974.0, "downloads": 66, "unique_downloads": 63, "unique_views": 82, "views": 88}}, "status": "published", "ui": {"access_status": {"description_l10n": "The record and files are publicly accessible.", "embargo_date_l10n": null, "icon": "unlock", "id": "open", "message_class": "", "title_l10n": "Open"}, "created_date_l10n_long": "January 18, 2018", "creators": {"affiliations": [], "creators": [{"person_or_org": {"family_name": "Tan Ping Hua", "name": "Tan Ping Hua", "type": "personal"}}, {"person_or_org": {"family_name": "Yeong Che Fai", "name": "Yeong Che Fai", "type": "personal"}}, {"person_or_org": {"family_name": "Ricky Yap", "name": "Ricky Yap", "type": "personal"}}, {"person_or_org": {"family_name": "Eileen Su Lee Ming", "name": "Eileen Su Lee Ming", "type": "personal"}}]}, "custom_fields": {}, "description_stripped": "Haptics has been used extensively in many applications especially in human machine interaction and virtual reality systems. 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Development of a Low Cost Haptic Knob