Sense of touch is one of the most important senses for human. Human feels
and interacts with the environment through their sense of touch. This thesis
describes the design and development of a single degree of freedom handle
with force feedback. The interaction between the handle and the user is
achieved through the usage of a DC servomotor. The servomotor provides
the resistive force to the manipulator. To control the servomotor, electronics
circuit is constructed. The electronics circuit controls the force provided by
the motor by using the Pulse Width Modulation technique. A computer is
used to provide graphical interface to the user. The computer is also used to
control the force provided by the motor by sending data through its parallel
port to the controlling electronics circuit. At the end of the project, a single
degree of freedom handle has been constructed and its characteristics have
been tested. From the tests conducted, the system built managed to provide
resistive torque up to 1.6N
