## Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems (2002)

Venue: | Journal of Engineering Education |

Citations: | 17 - 4 self |

### BibTeX

@ARTICLE{Richard02feelingis,

author = {Christopher Richard and Allison M. Okamura and Mark R. Cutkosky},

title = {Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems},

journal = {Journal of Engineering Education},

year = {2002},

pages = {345--349}

}

### Years of Citing Articles

### OpenURL

### Abstract

As an innovative approach to teaching the laboratory component of an undergraduate course on dynamic systems, we present the haptic paddle: a low-cost, single-axis, force-feedback joystick. Using the paddle, students not only learned to model and analyze dynamic systems, but by using their sense of touch, they were able to feel the effects of phenomena such as viscous damping, stiffness, and inertia. Feeling the dynamics, in addition to learning the underlying physics, improved students ’ understanding and added an element of fun to the course. In this paper, we describe the purpose and design of the haptic paddle, present examples of how the paddle was integrated into laboratory exercises, and show the results of student evaluations. 1.

### Citations

225 |
Force and Touch Feedback for Virtual Reality
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- 1996
(Show Context)
Citation Context ...celeration due to gravity, τ is the torque applied by the motor, and τf is Coulomb friction in the motor. Equation (1) can be simplified and linearized to give the standard second-order equation: & & =-=(2)-=- J θ + b θ + k θ T eq eq eq = Like the typical mechanical second-order system model, our model of the haptic paddle contains an inertial component J , a component representing the energy dissipation i... |

10 |
The imperative for medical simulation
- Dawson, Kaufman
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(Show Context)
Citation Context ... θ& b eq , a component corresponding to the potential energy stored in the system, k eqθ , and a forcing function T. 2 2 (3) J ( J m r N J ) + = eq s s cg + m2 (4) beq = bs + N bs (5) keq = −ms grcg =-=(6)-=- T = N( τ −τ f ) Because keq is negative, the haptic paddle is an unstable system in the absence of feedback control. 3.2 Identification After students have learned to model the motion of a paddle wit... |

8 | Getting a feel for dynamics: using haptic interface kits for teaching dynamics and controls. American Society of Mechanical Engineers, Dynamic Systems and Control Division 61:153–157
- Richard, Okamura, et al.
- 1997
(Show Context)
Citation Context ...evious section that the haptic paddle is inherently unstable. However, the addition of proportional-derivative feedback control can make the system stable. This feedback torque can be described by: & =-=(10)-=- Τ = K θ + K θ p v When combined with the original system, the new equation of motion is:& (11) ( ) & J θ + b − K θ + ( k − K ) θ = 0 eq eq v eq p With feedback control, the students may calculate th... |

6 |
An interactive learning tool for dynamic systems and control
- Lee, Daley, et al.
- 1998
(Show Context)
Citation Context ... as it spins with no applied torque. (7) J mω& + bmω = −τ f Students solve this equation, and find that if the motor begins with an initial angular velocity, ωo, its velocity as a function of time is =-=(8)-=- ω( t) b J = − e m m t ( ω o τ f + b m τ f ) − b m If the Coulomb friction torque in the motor is negligible then Equation (8) becomes (9) ω ( t) ω e = 0 b − J m m t To estimate bm, students experimen... |

3 |
Interactive simulation of dynamic systems on a personal computer to support teaching
- Bonert
- 1989
(Show Context)
Citation Context ...students are asked to derive the equation of motion governing the paddle’s position. Using either Newton’s law or an equivalent method, the equation of motion for the paddle is found to be: 2 2 & 2 & =-=(1)-=- ( J + m r + N J ) θ + ( b + N b ) θ − m gr sin( θ ) = N( τ −τ ) s s cg m s m s cg f where θ is the angle of the scctor pulley measured with respect to a vertical line, Js is the moment of inertia of ... |

2 |
Modeling and Analysis of Dynamic Systems, 2 nd Ed
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- 1995
(Show Context)
Citation Context ...onent J , a component representing the energy dissipation in the system, θ & eq θ& b eq , a component corresponding to the potential energy stored in the system, k eqθ , and a forcing function T. 2 2 =-=(3)-=- J ( J m r N J ) + = eq s s cg + m2 (4) beq = bs + N bs (5) keq = −ms grcg (6) T = N( τ −τ f ) Because keq is negative, the haptic paddle is an unstable system in the absence of feedback control. 3.2... |

2 |
Classroom computers: don’t forget the analog
- Conley, Kokjer
- 1989
(Show Context)
Citation Context ...nergy dissipation in the system, θ & eq θ& b eq , a component corresponding to the potential energy stored in the system, k eqθ , and a forcing function T. 2 2 (3) J ( J m r N J ) + = eq s s cg + m2 =-=(4)-=- beq = bs + N bs (5) keq = −ms grcg (6) T = N( τ −τ f ) Because keq is negative, the haptic paddle is an unstable system in the absence of feedback control. 3.2 Identification After students have lear... |

2 |
HRoach: A 3D Haptic Video Game with Interactive Dynamics
- Costa, Okamura, et al.
- 1995
(Show Context)
Citation Context ... the system, θ & eq θ& b eq , a component corresponding to the potential energy stored in the system, k eqθ , and a forcing function T. 2 2 (3) J ( J m r N J ) + = eq s s cg + m2 (4) beq = bs + N bs =-=(5)-=- keq = −ms grcg (6) T = N( τ −τ f ) Because keq is negative, the haptic paddle is an unstable system in the absence of feedback control. 3.2 Identification After students have learned to model the mot... |

1 |
An introduction to mechanical vibrations (3rd ed
- Steidel
- 1989
(Show Context)
Citation Context ...nal-derivative feedback control can make the system stable. This feedback torque can be described by: & (10) Τ = K θ + K θ p v When combined with the original system, the new equation of motion is:& =-=(11)-=- ( ) & J θ + b − K θ + ( k − K ) θ = 0 eq eq v eq p With feedback control, the students may calculate the equivalent poles and determine the values of the feedback parameter Kp and Kv to satisfy the r... |