Linear Haptic Interface
A linear haptic interface for the emulation of second order dynamic systems, aiming to improve teaching efficacy and student understanding of this systems.
Interface Overview
Figure 1: The Linear Haptic Interface, the face plate can be conifgured to behave like a mass-spring-damper system with configurable parameters.
Interactive 3D Model (Coming Soon!)
Project Description
Throughout my undergraduate degree in mechatronic engineering, and elsewhere in my study of science, I repeatedly encountered 2nd order systems. I had glimpses of the huge advantage that an intutitve understanding of these systems and instinct for how variations in the parameter values will impact the behaviour of the system, improved my interaction with these systems, both mathematically and practically when tuning control systems.
This haptic interface is designed to allow students to physically interact with a second order system with adjustable parameters, letting them feel the impact of each parameter and make mental associations with the role each plays in equations which are so often taught without conrete physical examples. This project built on my personal belief, and the existing body of reasearch that 'Students in science learn better by doing'.
Images
Figure 1: Haptic Interface in Testing Phase.
Figure 2: Interface in Use.
Project Specific Skills
- Dynamic system design
- 2nd order homogenous systems of differential equations
- Impedance/Admittance control
- Model Reference Addaptive Control
- Microcontroller programming (STM32F401RE)
- Sensor integration (Quatrature encoder, Load Cell, HX711)
- Electronics Design
- DC Motor Control