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

2. 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.

3. 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

4. Prototype-Current

5. Prototype in SolidWorks

7. 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

8. Testing FSR using Load Cell

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

10. Hammerstein-Wiener Model

11. Current Status…

12. Cam Mechanism-FSR Testing

14. Cam Mechanism Problems

15. Redesign of cam mechanism

19. 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.

20. References
Arduino - ArduinoBoardUno. (n.d.). Retrieved February 28, 2016, from
Brushless DC-Servomotors with analog Hall sensors. Retrieved November 15,
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
Interlink Electronics, FSR 402. (2011). Retrieved November 12, 2015, from
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 Second Joint , vol., no., pp , March 2007
OMEGA Engineering, DAQ and Load cell. Retrieved November 12, 2015
Pololu - Micro Metal Gearmotors. (n.d.). Retrieved February 28, 2016, from
Saadeh, M. & Trabia, M. (2012). "Identification of a Force Sensing Resistor for Tactile Applications," Journal of Intelligent Material Systems and Structures, JIMSS, 24(7):