Research and development of the control system of a haptic interface for motor learning and control tests

Abstract

In this work we analyze a haptic interface present in the Biomechatronic Laboratory under the structural and electronic aspects and examine the codes used in its operation. We then use this analysis to develop a new version of this device that could be used as a control learning platform and could be used for laboratory testing. Electrical and mechanical systems were modeled and control theory concepts were applied to the modeling of various systems capable of controlling the angular position of our interface. In the end, we compared these systems under various conditions to define the most suitable for our device. Finally, we designed a system to allow communication and data exchange between two interfaces for future testing.