Haptic Device for VR: Enabling 6DoF

Technologies and Libraries: SolidWorks, SolidWorks Simulation (FEA), C# Programming, Unity, ESP32 Microcontrollers, O-Drive Motor Control Board

This project aimed to develop a haptic device capable of providing users with realistic and immersive feedback in virtual reality (VR) environments. The key challenge was to accurately represent all six degrees of freedom (6 DoF) of movement – allowing users to not only translate objects (move them around) but also rotate them precisely.

Initial Design and Limitations:

The initial design utilized a passive gimbal system, which lacked the capability to measure joint positions. This limitation restricted the device to representing only three degrees of freedom (3 DoF), limiting the range of object interactions possible in VR.

Design Enhancements and My Role:

To overcome this limitation and achieve 6 DoF representation, I spearheaded the electronics and programming aspects of the project, leveraging my experience in this area. Here's a breakdown of the key improvements and my contributions:

• Upgraded Gimbal System: We replaced the passive gimbal with an active gimbal equipped with high-resolution rotary encoders. These encoders provided accurate measurements of joint positions, enabling the device to track all six degrees of freedom.

• Enhanced Electronics and Programming: I redesigned the high-power circuitry of the system for improved efficiency. Additionally, I implemented efficient wire management practices and programmed the encoders to transmit their measurements to the Unity VR environment using Arduino IDE and C#.

• Mechanical Design Integration: Drawing on my experience from the Robotics team, I also contributed to the design of the mounting mechanism, shaft, and bearing system. These components ensured a rigid, low-resistance design, crucial for precise movement and user comfort.

Results and Impact:

By implementing these improvements, we successfully achieved our goal of creating a haptic device capable of representing all six degrees of freedom in VR. This allows users to interact with objects in a more natural and intuitive way, significantly enhancing the realism and immersion of the VR experience.