Gauntl33t

Haptic Solutions

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Description

WARNING: This is a challenging build and not all parts/instructions/software are available to build this project yet. Please check back over time to see updates.

Version 0.5 of the Gauntl33t Haptic Glove. For feeling the size shape and hardness of objects in a virtual environment.

This page will update over time with more details as the project evolves. Eventually we intend on selling circuit boards and also a DIY kit to accompany these files and instructions. They will hopefully be available before the end of 2023.

History of the Gauntl33t:

Version 0.1

https://photos.app.goo.gl/asXZ6bsKzoYeMgon6

photo from August 2013

Rev VR Podcast

https://www.youtube.com/live/CQydcKF9PNE?feature=share

Version 0.2

https://photos.app.goo.gl/RPxDaWEkX37AfLBt8

3D model files:

https://github.com/gauntl33t/Team-Gauntl33t-Project-Lance

photo from May 2014

photo from May 2015

Version 0.4

https://photos.app.goo.gl/LUWFvRuhzBrsem2a6

photo from September 2020

https://photos.app.goo.gl/YnjhrfuTbj6czikD7

photo from October 2021

Build Instructions for Gauntl33t 0.5

The Gauntl33t 0.5 was inspired by a demo of SimpleFOC at East Coast Rep-Rap Festival (ERRF) by David Shorey.

David Shorey's Demo Featured on 3D Musketeers

https://youtu.be/5i83OsqgnJc

We have spent the past 3 months in our spare time using the concept of Gimble motors to build a haptic glove that we brought along to CES. We plan to continue improving the design and eventually sell both DIY kits and fully assembled developer kit gloves. In the meanwhile however, we wanted to go ahead and make some files available here for personal use.

Printed Parts

1x HapticGlove
12x MotorCartridge_Upright
6x Spool

Laser Cut Parts

1-2mm EVA

1x EVAFoamPadForHand

1/8" or similar Polycarbonate

WARNING

Need good exhaust and air assist.

Have Fire extinguisher on hand!

Don't peel until after cut.

2x MotorCartridge_MotorMount
2x MotorCartridge_EncoderMount
1x TeensyMount
1x PowerandESP32B

Milled Parts

7x AluminumFingers (need 7 for now. Will hopefully update 3D printed files such that only need 6 in future) Currently ¼" aluminum however we will be updating the print file such that only 1/8" 7072 aluminum or stainless steel is needed.

Other Parts

2x Teensy 4.0 https://www.pjrc.com/store/teensy40.html
1x Circuit Board Backplane (We will be selling this in the future. The board needs improvement so that the user will have an easier time, such as adding pogo pins to the board so tricky 90degree pins will not need to be soldered on to the teensy. If you are confident in your soldering skills you can reach out and we can see about arranging selling you one of the current boards.
1x ESP32 Development board https://www.amazon.com/gp/product/B0B18NK2MS/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&th=1
1x 5V Regulator https://www.amazon.com/gp/product/B078BCCDN1/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1
1x USBC 100W Trigger board https://www.amazon.com/gp/product/B09N8P1TMW/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1
1x Switching Regulator (we will be selling a smaller voltage regulator in the future so you may want to hold out for that). https://www.amazon.com/gp/product/B00C4QVTNU/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1
1x 5010 12V Fan to cool the switching regulator. (TBD if a fan will be needed for our smaller regulator and what size that fan will need to be)
28x M3x30mm screws.
6x SimpleFOC Mini boards
Plenty of M3 threaded insert to use as spacers or comparable spacers.
6x GBM2804H-100T
6x AS5600 encoders
48x M3x5mm button head screws
24x M3x4mm Stainless Steel Phillips Flat Countersunk Head Screws
50lb test braided fishing line
1" wide loop and hook velcro
5" wide loop velcro
5" wide hook velcro
6x pneumatic fitting for M2 OD tubing with M5 thread.
1mm ID 2mm OD tubing
12 M5x5mm button head screws
Plenty of wire. Keep in mind current draw for guage (more details to be added)
6x 3 pin horizontal JST-XH headers for the motor drivers.
1/8" Polycarbonate
a sacrificial belt (for now will be making a better mounting method)
an Altoids tin to cut some sheet metal from for USB-C cable retainer.
6x M5 heat set inserts

Tools

C02 Laser Cutter
3D Printer
Soldering Iron
Optionally iron tips for heat set inserts
Wire Cutters
Wire Strippers
JST-XH Crimpers
Screw Drivers
Allen Keys
Leather Punches (or similar for making holes in velcro.)
Scissors
Optionally Sewing Machine

Software

TBD how firmware/software will be distributed. Please keep this in mind before beginning this build. We do not have full firmware yet and it is TBD if the source will be released or if only binaries will be available. If you really want to attempt this build now reach out and maybe we can figure out something. Thank you for your understanding.