CapstanCrunch: A Haptic VR Controller with User-supplied Force Feedback
summary
A palm-grounded handheld controller uses a capstan-plus-cord brake driven by a small motor and twisted-string actuator to magnify motor force (≈×40) and render human-scale kinesthetic forces (0.1–20 N) with <10 ms latency and low power. Construction uses Delrin capstan and Vectran line; strings survive >200,000 cycles. It implements programmable onset of compliance and stiffness modulation; two user studies show convincing compliance versus a fixed spring and an active claw, with compacting underway for multi-finger versions.
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chapters (13)
- 0:00Introduction and motivation
- 1:09Haptic VR controller goals
- 2:35Active vs passive haptic devices
- 4:02Past haptic device research
- 6:09Resistive haptics overview
- 8:18Capstan and rope mechanics
- 11:11CapstanCrunch design principles
- 13:00Twisted string actuator
- 14:50Adding programmable compliance
- 16:41Device demonstration
- 17:25User study results
- 18:50Future work and scaling
- 19:14Q&A session
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