Characterizing The Response Of A Force Feedback Joystick

Abstract

The 77 Lab has created a joystick capable of force feedback to be part of their excavator simulator. Using the joystick, they will study the effects of force feedback on novice and experienced heavy machinery users and with the goal of understanding how force feedback can affect learning quality and speed. To create this force feedback and Proportional Derivative controller was selected. By sweeping control loop parameters of a PD controller, the stability region for this joystick was found. In addition further experiments were conducted to characterize the effects of control loop frequency, set position, and springs. Ultimately it was found that the system preforms significantly better at higher control loop frequencies near 600Hz when compared to 300Hz, it has asymmetrical performance in specific directions, and that springs provide a significant improvement towards the stability of the system.