Advancements in Control and Design for E-braille Device Timothy David Carambat Advisor: Dr. Mohammad Saadeh ET493 Instructor: Dr. Cris Koutsougeras

What is E-braille? The next step in assistive technology for the visually impaired. Implementation of existing technologies in a novel manner. Provides a more natural and private way for information reception. Fulfills a personal and market need. Technology could be utilized in other fields.

Basic Components Controller/chip Force sensing resistor (FSR) Physical clasping device with rack and pinion. Miniature DC motor Power source Electro-tactile Display Other circuitry

Prototype-Current

Prototype in SolidWorks

Force-Sensing Resistors. The problem and the solution… Cost Effective No drive circuitry Small, even customizable. Flexible and reliable Not very accurate Requires Voltage Divider Not linear

Testing FSR using Load Cell

How it works-Motor Clamping Force controller Input from FSR Hammer-Wiener Model PID controller Motor Control magnitude and direction Wait for input..

Hammerstein-Wiener Model

Current Status…

Cam Mechanism-FSR Testing

Cam Mechanism Problems

Redesign of cam mechanism

Going Forward Finish Cam construction and begin testing Identify system parameters (nonlinear coefficients) Have model that works with real time input to identify FSR’s behavior Tune PID Have actuation of rack complete with user input.

References Arduino - ArduinoBoardUno. (n.d.). Retrieved February 28, 2016, from https://www.arduino.cc/en/Main/ArduinoBoardUno Brushless DC-Servomotors with analog Hall sensors. Retrieved November 15, 2015 . https://www.faulhaber.com/en/global/  Florez, J. and Velasquez, A., 2010, “Calibration of Force Sensing Resistors (FSR) For Static and Dynamic Applications,” 2010 IEEE ANDESCON, pp.1-6. FUTEK Advanced Sensor Technology. (n.d.). Retrieved February 28, 2016, from http://www.futek.com/product.aspx?stock=FSH00264 http://www.futek.com/product.aspx?t=instrument&m=csg110  Interlink Electronics, FSR 402. (2011). Retrieved November 12, 2015, from http://www.interlinkelectronics.com/FSR402.php# Nakamura, N; Fukui, Y; , "Development of Fingertip Type Non-grounding Force Feedback Display," EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint , vol., no., pp.582-583, 22-24 March 2007 OMEGA Engineering, DAQ and Load cell. Retrieved November 12, 2015 http://www.omega.com/pptst/OMB-DAQ-2408.html http://www.omega.com/pptst/LC201.html Pololu - Micro Metal Gearmotors. (n.d.). Retrieved February 28, 2016, from https://www.pololu.com/category/60/micro-metal-gearmotors Saadeh, M. & Trabia, M. (2012). "Identification of a Force Sensing Resistor for Tactile Applications," Journal of Intelligent Material Systems and Structures, JIMSS, 24(7): 813-827.