This repository contains all the source files, mechanical designs, and code for our project: Haptic Cutting Knife, developed for Stanford's ME327: Design and Control of Haptic Systems (Spring 2025).
📍 Project website: https://charm.stanford.edu/ME327/2025-Group16
| File | Description |
|---|---|
ME327_Haptic_Cutting_G16_2025.step |
3D CAD model of the full haptic knife system, including motor mount, knife handle, capstan pulley, and structural parts. |
haptic_cutting_vFinal.ino |
Final Arduino sketch for controlling the motor, reading encoder values, and handling user input. |
hapticscutting.blend |
Blender file used for rendering of the knife and ingredients in the Virtual Reality environment. |
parts_list.csv |
Tabulated list of all components used in the project, including specifications and cost notes. |
README.md |
This documentation file. Describes project overview, file structure, and cost breakdown. |
| Component | Specification | Quantity | Unit Price (USD) | Notes |
|---|---|---|---|---|
| Maxon DC Motor | 148877 with Encoder 110513 (Part# 199554) | 1 | Borrowed from lab - Used in capstan transmission | |
| Motor Driver | BTS7960 | 1 | 12 | High current motor driver (purchased) |
| Microcontroller | Hapkit board (Arduino Uno based) | 1 | Borrowed from lab - Used for control and sensing | |
| Encoder | Integrated with Maxon motor | 1 | Borrowed from lab - Included with motor | |
| Power Supply | DC Regulated (12V 10A) | 1 | Borrowed from lab - Used for motor and system power | |
| Capstan Pulley | Custom with threaded guide and 3D printed | 1 | Borrowed from lab - 3D printed part | |
| Fishing Line | High-strength | 2 m | Borrowed from lab - For capstan drive | |
| Knife Handle | 3D printed | 1 | Borrowed from lab - Custom design | |
| Base & Stand | 3D printed | 1 | Borrowed from lab - Support structure | |
| Balloon (for jamming) | Latex with sand-filled or quinoa-filled | 4 | Borrowed from lab - For tactile grasping | |
| Syringe | 60 ml | 1 | Borrowed from lab - To control particle jamming | |
| VR Headset | Meta Quest 2 | 1 | Borrowed from lab - For VR experience | |
| Push Buttons | Momentary switch | 3 | Borrowed from lab - Mode selection | |
| Wires & Connectors | Generic jumper wires 1 set | 1 set | Borrowed from lab - For all wiring | |
| Breadboard | Small breadboard | 2 | Borrowed from lab - Signal routing | |
| Screws & Fasteners | Miscellaneous 1 set | 1 set | Borrowed from lab - For mechanical assembly | |
| Total Cost | 12 | Only one component purchased |