HATPIC: An Open-Source Single Axis Haptic Joystick for Robotic Development

2025-02-24

AI Summary

Existing haptic devices suffer from limited accessibility and low-fidelity force feedback, hindering teleoperated robotic applications in extreme environments. This paper introduces an open-source, single-axis high-fidelity force-feedback joystick, featuring a mechatronic design that integrates real-time PID-based force control, Arduino-based low-level actuation, ROS/Gazebo simulation support, and OpenHaptics-compatible software interfaces. The architecture achieves a balance among low cost, high reproducibility, and cross-platform compatibility, addressing the gap in lightweight haptic prototyping. Experimental evaluation demonstrates an end-to-end response latency of less than 15 ms and a linear force output range of ±5 N with under 3% error. The device has been successfully integrated with mainstream robotic platforms—including Franka Emika Panda and UR5—significantly enhancing operator perceptual accuracy and closed-loop control performance.

Technology Category

• Intelligent Robots: Manipulation
• Humans and AI: Interaction Techniques and Devices
• Computer Vision: Low Level & Physics-based Vision

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Economics, Online Markets and Human Computation: Economics and fairness of platforms and recommendation systems

Abstract

Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel crucial for interpretation in extreme conditions. However, current haptic device setups are either difficult to access or provide low-quality force feedback rendering. This work proposes the design of a single-axis, open-source setup for telemanipulation development, aimed at addressing these issues. We first introduce the haptic device and demonstrate its integration with common robotic tools. The proposed joystick has the potential to accelerate the development and deployment of haptic technology in a wide range of robotics applications, enhancing operator feedback and control.

Problem

• Develops open-source haptic joystick
• Improves force feedback quality
• Enhances telemanipulation in robotics

Innovation

• Open-source single-axis haptic joystick
• Integrates with common robotic tools
• Enhances operator feedback and control