1 DOF (Pitch) Handheld Haptic Device

Omar, Muhammad Idris (2018) 1 DOF (Pitch) Handheld Haptic Device. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (24 Pages) 1 DOF (Pitch) Handheld Haptic Device.pdf - Submitted Version Download (286kB)

Abstract

In this modern era,underwater remotely operated vehicles are developed from time to time for maritime industry such as subsea exploration,maintenance operation, inspections and security.This thesis proposed the solution in developing the feedback from human interface with ROV motion.In this research,the objective is to develop a handheld haptic device that is able to give haptic feedback for ROV pitch motion.Hence,the research also assesses the performance of the develop haptic device in sensor accuracy,actual force delivered and transparency.A one degree of freedom (1 DOF) pitch handheld device are developed for controlling the pitch angle orientation of haptic feedback.The microcontroller for this device is Arduino Uno and all programming for this system was written and compiled using Arduino Uno. The sensor to capture the orientation of angle is MPU6050.The software use in this research is Solid Work, MATLAB and Arduino Ide.The result obtained for this research is the sensor accuracy between two MPU6050 and the actual force delivered to the motor.This research is obtained to have both the device and the ROV are in sync when operated.

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