HandsOn-SEA is a 1-DoF admittance type device that features series elastic actuation. It uses a very a low cost force sensing unit and relies on the force feedback and the motion control of its motor to render virtual environments. HandsOn-SEA is physically compatible with and complementary to Haptic Paddle designs. This device has been used in a senior level engineering class for teaching concepts such as force control, limitations of non-collocation, series elastic actuation and haptic rendering. The device is built using rapid prototyping tecniques with off the shelf parts. Matlab Simulink environment is prefered due to its user friendly GUI and for enabling the students to focus on the system design and control aspects.
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