A haptic interface: design and construction
Date
2017-12-13
Authors
McIlvaney, Daniel Goulet
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Abstract
A haptic interface was built on top of a general purpose particle physics engine running on an Arduino Nano (ATmega328 CPU). Various tests were conducted to determine if emulated floating-point, or fixed-point arithmetic, was more performant on an 8-bit CPU with no FPU. Testing showed that 32-bit fixed-point arithmetic is required to meet the precision and range requirements of the physics engine. However, emulated floating-point calculations we also found to have very similar performance to the 32-bit fixed-point implementation. As such, the physics engine powering the haptic interface was built to work with both types. A one degree-of-freedom haptic interface was custom designed, 3D printed, and built.
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Keywords
haptic interface, physics engine, arduino, fixed point, admittance