HATPIC: An Open-Source Single Axis Haptic Joystick for Robotic Development
Julien Mellet, Fabio Ruggiero, Vincenzo Lippiello
TL;DR
This paper introduces HATPIC, an open-source, single-axis haptic joystick designed to enable rapid development of telemanipulation capabilities. It applies an admittance-based control approach with a smart-servo actuator and ROS1/ROS2 drivers to provide stable, high-fidelity force feedback while minimizing control complexity. The hardware and software are openly shared, four units were produced, and the system was demonstrated for bilateral teleoperation of aerial manipulators in a European training setting. By reducing the number of controlled degrees of freedom and delivering robust force rendering in a compact form factor, HATPIC lowers barriers to adoption and lays groundwork for additional haptic modalities in robotics.
Abstract
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel crucial for interpretation in extreme conditions. However, current haptic device setups are either difficult to access or provide low-quality force feedback rendering. This work proposes the design of a single-axis, open-source setup for telemanipulation development, aimed at addressing these issues. We first introduce the haptic device and demonstrate its integration with common robotic tools. The proposed joystick has the potential to accelerate the development and deployment of haptic technology in a wide range of robotics applications, enhancing operator feedback and control.