Identification and Optimization of the Haptic Rendering from a “Novint Falcon”. Aman Shah Scott Teuscher Advised by: Prof. Jake Abbott, Dept. of Mechanical Engineering.

Overview Novint Falcon is low cost high volume haptic interface Haptic performance varies within and from device to device

Motivation By increasing the haptic performance of the falcon we can get consistent and similar feel to more expensive “precision” devices Example: 2 orders of magnitude in cost Force Dimension Omega.x ~ $20k Novint Falcon ~ $150

CHALLENGES Kinematics Accurate System Identification Weights and dimensions Center of Mass Moments of Inertia Motor Characterization Model Predictive Control MOMENT OF INERTIA INSTRUMENTS - XR Series

QUESTION WE HOPE TO ANSWER : Can we develop an algorithm for gravity and friction compensation to cause the Novint Falcon to feel consistent within it’s own workspace, as well as between different devices?

FINAL OUTPUT User tests to determine if we have increased the haptic performance within and between devices System parameters for general public use Barring no improvement, an algorithm for improving the haptic performance of a Novint Falcon

QUESTIONS?