6x6 Haptic Pin Array

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6x6 Haptic Pin Array
David Klaus Joe Solomon
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Overview

• Surface simulation
• 6x6 ? 36 pins
• Servomotors
• Design influenced by Howe (Harvard)

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Mechanical Design
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Design Differences

• Closer pin spacing
• Smaller motors

• MX-50HP
• 21.8x10.9x19.8 mm

• Cirrus CS-5.4
• 20.0x8.0x17.6mm

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Electronic Design

• Computer Sets 16 bits
• 8 bits Command Position (0-255)
• 7 bits Motor Address (0-127)
• 1bit Enable

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Electronic Design
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Electronic Design
time
high
low
All 8 bits of resolution packed into middle
section
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Electronic Design
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Whats Been Done

• Design of hardware
• Design of circuitry
• Construction of top plate
• Preliminary programming

Remaining Questions

• Is the motor spacing optimal?
• Improvements to circuitry?

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Remaining Questions

• Is the motor spacing optimal?
• Improvements to circuitry?