University of Twente Student Theses


Model predictive contour control for electromagnetic induced haptic feedback

Langerak, Thomas (2018) Model predictive contour control for electromagnetic induced haptic feedback.

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Abstract:The loss of fine-grain motor tasks, such as handwritnig, after a stroke is one of the most impactful injuries for both patient and relatives. For that reason we introduce MagnetPen, a system that, we argue, increases the learning rate in tasks such as handwriting by giving haptic guidance control feedback to the learner. The core of the system is an electromagnet on a 2D axis system, which is capable of, both, attracting and repelling a pen. In this thesis we present a process control strategy, Model Predictive Contour Control, that is responsible for the positioning and strength of the electromagnet with respect to the current pen position as well as the desired path. This control strategy was evaluated with a simulated user in a variety of scenarios. We find that the MPCC works in a large variety of cases. However, has problems with a noisy user and acute corners. Next to this we present a closed-loop analytic model for calculating the strength of an electromagnet given a distance and a pulse-width modulation input. We compared the results of this model with a Finite Element Method analysis. We find that, despite not being as accurate, the present model approximates the strength of the electromagnet to a suitable precision.
Item Type:Essay (Master)
ETH Zurich, Zurich, Switzerland
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:54 computer science
Programme:Interaction Technology MSc (60030)
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