[D01] Haptic paddle for dynamics education

Summary form only given, as follows. A single axis force feedback device known as a haptic paddle has been implemented as a teaching tool at several universities with different designs and emphases. Shown in this demo are two haptic paddle designs, the Rice Haptic Paddle and one modified design with a friction drive transmission that increases the ease with which students can perform virtual environment experiments, providing the opportunity for a hands on interpretation of the characterization presented in the conference submission. Additionally, new real time implementation hardware and software that is more intuitive for students will be demonstrated. Additionally, brief demonstrations of the experiments the students perform, including time domain system identification of actuator characteristics, interactions with virtual environments, and unilateral/bilateral teleoperation will be performed. This demo will showcase the interactions the students have with the devices, and provide insight into the design choices made when developing pedagogic tools such as the haptic paddle.