Haptic Butter Churning Simulator

As part of a haptic design project at Stanford, I created a haptic butter churning simulator. This system uses the combination of hardware and software controls to imitate the process of churning cream into viscous butter. The system’s physical design was created using various processes including 3D printing, laser cutting, and wood working. The base electronics of the system included an Arduino board and Maxon motor. We created a software model for the simulated fluidic force that churning butter would give to a user and used a derived exponential formula to modify the simulated viscosity over time. The model was refined by analyzing the dynamic movement of the physical linkages from the butter churner handle to the Maxon motor. The system as shown below was presented at the Stanford Haptics Fair on 05/31/2022.