Overview

As a dexterous haptic device, HD² enables researchers to interact with virtual or remote environments using programmable force feedback. Compared to other commercially available haptic devices, HD² has a large workspace and very low intervening dynamics. This parallel mechanism is highly back-drivable with negligible friction. The heavy-duty capstan drive and high-performance motors reduce the perceived inertia while maintaining rigidity of the device structure.

  • Highly back-drivable joints and very low intervening dynamics
  • Highly rigid structure with low friction and inertia
  • Capstan drive mechanism
  • Counterweights designed to eliminate the effects of gravity
  • Auxiliary analog and digital inputs
  • Reconfigurable handle position
  • High-resolution optical encoders
  • Built-in linear current amplifiers
  • Easy connectivity to the data acquisition control board through SCSI cable
  • Foot push pedal for auxiliary digital input

Using seven high resolution optical encoders, the operator’s motion can be tracked in six DOF (i.e. X, Y, Z, roll, pitch and yaw). The device can apply force to the user in five DOF (i.e. X, Y, Z, roll and pitch)*.

In order to minimize the perceived weight over the entire workspace, adjustable brass counterbalances are mounted on each base. This state-of-the-art device is equipped with six built-in, high-bandwidth linear current amplifiers which, along with t he smart mechanical design, make it possible to achieve stiffness coefficients as high as 20,000 N/m. A foot push pedal is provided with the device as a digital input for switching applications.

The system is controlled via PC using Quanser’s QID/QIDe superior performance hardware-in-the-loop (HIL) control board. Quanser rapid control prototyping software options – QUARC for MATLAB®/Simulink® or RCP Toolkit for LabVIEW™ – create an intuitive yet extremely flexible controller design environment.

*HD2 is also available in configurations with 6 DOF sensed/6 DOF actuated (with actuated roll at end-effector) and 7 DOF sensed/7 DOF actuated (with pincher). For details or to inquire about customization to your specific needs, email sales@quanser.com.

The following additional components are required to complete your workstation, and are sold separately:

For Simulink

  • QUARC® add-on for MATLAB®/Simulink®
  • Quanser QPIDe DAQ device

For LabVIEW

  • Quanser Rapid Control Prototyping (Q-RCP) Toolkit® add-on for NI LabVIEW™
  • Quanser QPIDe DAQ device

Product Details

Workspace 800 mm (X), 250 mm (Y), 350 mm (Z)
180 degrees (roll), 180 degrees (pitch), continuous (yaw)
Tip inertia 300 g (X), 300 g (Y), 300 g (Z)
2.29 g.m ²(roll), 2.29 g.m² (pitch), 0.79 g.m² (yaw)
Back drive frictions 0.353 N (X), 0.353 N (Y), 0.353 N (Z)
61.775 N/mm (roll), 61.775 N/mm (pitch), 0.5 N/mm (yaw)
Maximum force/torque at 2 amps 19.71 N (X), 19.71 N (Y), 13.94 N (Z)
1.72 N.m (roll), 1.72 N,m (pitch), 1.72 N.m (yaw)
Continuous force/torque at 1.1 amps 10.84 N (X), 10.84 N (Y), 7.67 N (Z)
0.948 N.m (roll), 0.948 N.m (pitch), 0.948 N.m (yaw)
Position resolution 0.051 mm (X), 0.051 mm (Y), 0.051 mm (Z)
0.033 degrees (roll), 0.033 degrees (pitch), 0.088 degrees (yaw)
Stiffness at 10 kHz 3000 N/m (X), 3000 N/m (Y), 3000 N/m (Z)
3.4 N.m/rad (roll), 3.4 N.m/rad (pitch), 0.05 N.m/rad (yaw) (torque at 0.6 A)
Dimensions (H x W x L) 0.53 m x 0.3 m x 0.5 m
Mass, including the amplifiers 22 kg

Related Products