Characterizing The Response Of A Force Feedback Joystick

The 77 Lab has created a joystick capable of force feedback to be part of their excavator simulator. Using the joystick, they will study the effects of force feedback on novice and experienced heavy machinery users and with the goal of understanding how force feedback can affect learning quality and speed. To create this force feedback and Proportional Derivative controller was selected. By sweeping control loop parameters of a PD controller, the stability region for this joystick was found. In addition further experiments were conducted to characterize the effects of control loop frequency, set position, and springs. Ultimately it was found that the system preforms significantly better at higher control loop frequencies near 600Hz when compared to 300Hz, it has asymmetrical performance in specific directions, and that springs provide a significant improvement towards the stability of the system.

Name thesis:degree_name

Bachelor

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2023

Author dc:creator

• Noguera, Joshua

Advisor dc:contributor.advisor

• Krebs, Hermano Igo

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/151931

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/151931