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AVRC / Robotics

HD² Haptic Device

Explore human motion, programmable feedback, and teleoperation.

Manuals & learning linksExplore Robotics
Haptic interaction · teleoperation

What the system does

HD² uses a backdrivable parallel mechanism and capstan drives to provide programmable haptic interaction. Optical encoders measure motion, and built-in linear current amplifiers drive the motors. An external data acquisition interface connects it to the control computer.

Inputs & outputs

Measured handle motion enters the teleoperation controller; bounded feedback commands return to the haptic device. QArm motion and gripper commands form a separate control path.

HD² Haptic Device product photograph supplied by Quanser
Product photograph and technical source: Quanser HD² Haptic Device ↗

Inside the experiment

ComponentRole in the system
MechanismParallel linkage with capstan transmission and a configurable handle.
SensingOptical encoder measurements of the device configuration.
ActuationMotor-generated feedback through built-in current amplifiers; external DAQ.
ConfigurationSensed and actuated DOF vary by HD² configuration. Confirm AVRC’s installed model before specifying controlled axes.
Annotated HD2 haptic device figure identifying linkages, motors, handle, and connection
HD² Haptic Device components. Figure reproduced from AVRC’s laboratory equipment report. View full-size figure · Manufacturer documentation

Build understanding through evidence

Suggested AVRC learning activities. Use the linked manufacturer procedure and the instructor’s approved setup for the actual experiment.

A practical learning sequence

  1. Complete haptic-device training and identify the emergency stop, workspace, and force limits.
  2. Begin with a supervised virtual environment and low-force interaction.
  3. For the planned QArm study, establish scaling, coordinate mapping, and communication-loss behavior before connecting the physical arm.

Teaching, outreach & research

  • Teaching: impedance, interaction forces, and human-in-the-loop control.
  • Outreach: demonstrate a virtual surface or guided motion under supervision.
  • Planned research: QArm teleoperation; feedback may be model-based or sensor-derived and must be identified explicitly.

Go directly to the source

Official manuals and resources may have their own licensing or sign-in requirements. Use material for the exact platform generation and software release.

MATLAB, Python & QLabs setupTechnical video libraryResearch reading & examples

Prepare before operating.

Complete lab orientation and platform-specific training. Coordinate the experiment with the AVRC team in B20, Mackey Building.

Safety & access

All equipment · Faculty course integration