A Ball and Beam Module for a Haptic Paddle Education Platform

TitleA Ball and Beam Module for a Haptic Paddle Education Platform
Publication TypeConference Proceedings
Year of Conference2017
AuthorsRose, CG, Bucki, NL, O'Malley, MK
Conference NameASME Dynamic Systems and Controls Conference (DSCC)
Date Published10/2017
Conference LocationTysons, VA
Single degree of freedom force-feedback mechatronic devices, often called haptic paddles, are used in university curriculum
as well as massive open online courses (MOOCs). While devices differ based on the goals of a given course, broadly speaking
they provide hands-on learning for students studying mechatronics and dynamics. We introduce the third iteration of the
Haptic Paddle at Rice University, which has been modified to improve haptic performance and robustness. The modifications
to the design increased device up time as well as the devices Z-width. The performance improvement enables the addition of
experimental plants to the haptic paddle base, which can be directed at advanced dynamics and controls courses, or special
topics in mechatronics and haptics. The first module, a Haptic Ball and Beam, adds an underactuated plant for teleoperation or
more complex control structures, and a testbed for haptic motor learning experiments in undergraduate coursework.

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