In this presentation, we introduce the Vanderbilt University Haptic Paddle, a one-degree-of-freedom force-feedback robot used in teaching system dynamics. The haptic paddle was originally developed at Stanford University and has since been adapted by several other institutions. At Vanderbilt University, we have contributed to the evolution of the paddle, particularly in its software platform.
We have transitioned the software of the haptic paddle from its original C architecture to the MATLAB and Simulink environment, enabling students to take on a much greater role in modeling and controlling their paddle. Throughout the course of the laboratory, students learn how to build simple Simulink models; interface them with the paddle, which runs on an Arduino board; and compare experimental data collected in real-time with model predictions. Further, students interact with virtual systems in Simulink and actually “feel” the system’s response. Thanks to the Simulink environment, all of these exercises are done without the challenges often associated with low-level programming and encourage students to engage in inquiry and reflection.
This session introduces the haptic paddle and its laboratories, with an in-depth look at each lab.
