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A low-cost 2-DOF haptic joystick.
A low-cost 2-DOF haptic joystick.
The device is actuated by DC motor coupled to a capstan drive mechanism for torque amplification without affecting the backdriveability of the system.
The device is actuated by DC motor coupled to a capstan drive mechanism for torque amplification without affecting the backdriveability of the system.
A PID algorithm was implemented to control the joystick, allowing this device to be used for educational purposes in topics such as control theory and haptic interfaces.
A PID algorithm was implemented to control the joystick, allowing this device to be used for educational purposes in topics such as control theory and haptic interfaces.
ESP-32 microcontroller
User Interface
A DC motor transmits the rotational movement to the joystick through a capstan drive system, achieving torque amplification with low perceived friction and inertia.
A DC motor transmits the rotational movement to the joystick through a capstan drive system, achieving torque amplification with low perceived friction and inertia.
The angular position of each axis is obtained from a hall-effect sensor, which was characterized to compute the current position according to the sensed magnetic field.
The angular position of each axis is obtained from a hall-effect sensor, which was characterized to compute the current position according to the sensed magnetic field.
A graphical user interface was designed in LabVIEW that establishes a serial communication with an ESP32 to control and monitor the haptic joystick.
A graphical user interface was designed in LabVIEW that establishes a serial communication with an ESP32 to control and monitor the haptic joystick.
Demo Video
Demo Video
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