부산대학교 도서관

Platforms capable of generating rich haptic feedback are usually quite expensive and under strict proprietary protection. In addition, most of them are not portable and do not deliver a fully integrated force, tactile and visual user experience. In an attempt to break through these limitations, we have created the Haplet: an open-source, portable and affordable haptic device with colocated visual, force and tactile feedback. The triple colocated user experience is delivered by a small-form parallel robotic mechanism that features a simple vibrotactile actuator at the end-effector. The robotic arm is optically transparent and is motorized at the base where it clips on a tablet or computer screen. All the electronic components are encapsulated into a custom designed board based on the Arduino Due microcontroller. This board interfaces computer software to the Haplet's hardware with a capacity of up to four motors and encoders and two vibrotactile actuators. This paper describes our ongoing research on developing the Haplet; and, reports our initial experimental studies on quantifying the effect of visual-force-tactile feedback colocation on the user's experience and performance.