Mantis: A Scalable, Lightweight and Accessible Architecture to Build Multiform Force Feedback ...
summary
Mantis is a low‑cost force‑feedback architecture that uses brushless DC motors, custom controllers and an admittance control loop to render haptics at 1 kHz control and ~3.5 N/mm stiffness. Implementations include desktop (<$500) and large (<$800) arms, a four‑point large‑workspace array (≈5 m^3 usable volume), a mobile setup and a wearable; a DIY 3D force sensor costs ≈$10. Devices match Phantom‑class fidelity while remaining open‑source and socket‑programmable.
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chapters (7)
- 0:00Introduction to Mantis
- 2:27Analyzing haptic challenges
- 6:09Mechanical design principles
- 8:40Admittance control scheme
- 10:51Accessibility and procurement
- 14:10Applications and future vision
- 16:11Q&A session
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