Educational Haptic Controller based on Arduino Platform Jorge Juan Gil, I˜ naki D´ ıaz, Xabier Justo and Pablo Ci´ aurriz Department of Applied Mechanics CEIT and TECNUN, University of Navarra San Sebasti´ an, Spain Email: jjgil@tecnun.es Abstract—The laboratory of Systems Technology and Auto- matic Control at TECNUN has developed an electronic controller based on the Arduino platform to allow students to implement haptic algorithms in multiple mechatronic devices. This work describes the design and the development process of the con- troller. A PHANToM Premium 1.0 haptic device has been used to validate the interface. Control algorithms that properly control the platform and several experiments carried out to test the interface are also presented. The proposed system is an excellent testbed for students to put into practice their skills and learn multiple concepts in the domains of electronics, control and programming. Index Terms—electronic control systems, robotics, Arduino, haptic controller. I. I NTRODUCTION In the last decades, haptic technology has made it possible to develop smart mechatronic devices that allow users interacting with virtual or remote environments by their sense of touch (Fig. 1). In other words, haptics is the technology of adding the sensation of touch and feeling to computers [1]. A haptic device allows to apply the user both tactile and kinesthetic information of the interacting environment (either real or virtual). Thanks to these devices multiple applications have been developed to improve the current art in many fields. For example, surgical haptic simulators have been developed where surgeons can be trained prior to operations [2]. Haptic technology makes the environment more realistic since the surgeon feels the same force feedback when operating as in the real procedure. It also allows developing a new series of advanced robotic tools for surgery [3] and teleoperation [4]. Driving technology has also taken advantage of this technology by developing haptic drive-by-wire systems that improve the maneuverability of current joystick-like devices [5]. In all cases, haptic feedback is used to improve the dexterity of the users when managing robotic and mechatronic devices by restoring the force and tactile feedback that they would feel in the real counterpart. Haptics is a multidisciplinary field. Developing a haptic interface demands knowledge on mechanical design, control engineering, electronics, computer graphics, signal processing, etc. As such, it becomes an excellent testbed for students to put into practice their acquired theoretical concepts in the aforementioned fields. Thus, haptic interfaces are motivating User Haptic Device Virtual Tool Virtual Environment User Manipulated Fig. 1. Haptic system developed at TECNUN to perform virtual aeronautic maintainability tasks environments where multiple practical works can be carried out to allow students enhancing their skills. One drawback of using these haptic systems was their high price. However, the latest devices in the market, such as the Novint Falcon, are just below $250. Even more, simple prototypes of one degree of freedom can easily be developed in the lab by using cheap electric motors and position sensors [6]. Nevertheless, the electronics can be price limiting. One of the most important requirements for haptic devices is that control algorithms must run at 1 kHz or faster. This threshold is mandatory for a proper haptic experience and also to guarantee the stability of the system [7], [8]. Note that a haptic device is a mechatronic system conceived to physically interact with the user, so safety is always a must. Fortunately, in the last years many low-cost electronic boards have arisen to the market, such as Arduino 1 and Raspberry Pi 2 . These systems, although still limited in their processing capabilities (compared to more sophisticated Na- tional Instruments boards, for example), allow the implemen- tation of cheap haptic controllers. Moreover, they easily allow implementing new additional electronic modules and systems. Another cost handicap for these systems is that the amplifiers 1 www.arduino.cc 2 www.raspberrypi.org 978-1-4799-6002-6/14/$31.00 ©2014 IEEE