This was a part of a student research project which intention was to develop an experimental device that can be used in robotic laparoscopic surgery adding 3d force feedback, in the simulation made with unity gravity is simulated when a "box of meat" is grasped, and when this happens, the grasping force is simulated too.

To measure the position and orientation a simply cinematic representation through Denavit-Hartenberg matrixes was used with angles provided by potentiometers, to simulate correctly the mass of the box a [try] FABRIK algorithm was implemented.

The device is based in an Arduino Mega which is connected to the Unity simulation through serial port. All the electronics are supply with 32 [V] through a lab bench supply.

Sadly I can't recover the cad file and programs of the project :,c from my old laptop, the hard drive died and I can't find any backup in my dropbox/mega account, but if I find something I'll put a log.