HAPTIC ROBOTS

The main purpose of this project is to design and build a functional mechatronics system that consists of a chair that responds to a simulated change in the environment, by rotating about one axis.

Our chair is a possible method used to communicate using haptics to a vehicle’s driver. Currently drivers use two senses to detect hazards on the road; hearing and sight. When implemented fully, our project would allow drivers to detect hazards on the road using their sense of touch as well. For this prototype we focused on the forward and backward movement of the driver's chair to simulate how the chair would react to obstacles and driving conditions.
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http://www.mech.northwestern.edu/hartmann/ME333Files/ME333_FinalWebsites/HapticChair/ME333/index.htm

SUMMARY:
Our project consists of a chair and the actuation of the chair. We focused only on one degree of actuation for this project, the motion of tilting the chair forward and backwards. The chair was modified to allow free movement back and forward, and is able to support up to 200 lbs of weight when static. Despite the free range of motion allowed by the chair, we limited our range of motion of -15 degrees to +15 degrees to ensure the person feels secure. To accomplish this actuation, we implemented a system that will rotate the chair about a support rod positioned at the base of the chair. The chair was moved by a Maxon Motor, which required a something amp and a 12V/10Amp power pack. The motion of the chair was monitored and controlled by an encoder attached to the motor as well an additional encoder used to simulate position or velocity of the vehicle. In addition, we sensed if the chair is near the end of the range of motion with the use of microswitches. With these two sensor systems, we are able to pinpoint the chair position, and ensure the safety of the occupant.