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

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

3. 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

4. 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

5. 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?

6. 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

7. QUESTIONS?