Optimal control for electromagnetic haptic guidance systems

Thomas Langerak, Juan José Zárate, Velko Vechev, David Lindlbauer, Daniele Panozzo, Otmar Hilliges

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We introduce an optimal control method for electromagnetic haptic guidance systems. Our real-time approach assists users in pen-based tasks such as drawing, sketching or designing. The key to our control method is that it guides users, yet does not take away agency. Existing approaches force the stylus to a continuously advancing setpoint on a target trajectory, leading to undesirable behavior such as loss of haptic guidance or unintended snapping. Our control approach, in contrast, gently pulls users towards the target trajectory, allowing them to always easily override the system to adapt their input spontaneously and draw at their own speed. To achieve this flexible guidance, our optimization iteratively predicts the motion of an input device such as a pen, and adjusts the position and strength of an underlying dynamic electromagnetic actuator accordingly. To enable real-time computation, we additionally introduce a novel and fast approximate model of an electromagnet. We demonstrate the applicability of our approach by implementing it on a prototypical hardware platform based on an electromagnet moving on a bi-axial linear stage, as well as a set of applications. Experimental results show that our approach is more accurate and preferred by users compared to open-loop and time-dependent closed-loop approaches.

Original languageEnglish (US)
Title of host publicationUIST 2020 - Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology
PublisherAssociation for Computing Machinery, Inc
Pages951-965
Number of pages15
ISBN (Electronic)9781450375146
DOIs
StatePublished - Oct 20 2020
Event33rd Annual ACM Symposium on User Interface Software and Technology, UIST 2020 - Virtual, Online, United States
Duration: Oct 20 2020Oct 23 2020

Publication series

NameUIST 2020 - Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology

Conference

Conference33rd Annual ACM Symposium on User Interface Software and Technology, UIST 2020
CountryUnited States
CityVirtual, Online
Period10/20/2010/23/20

Keywords

  • Computational interaction
  • Haptic devices
  • Optimal control

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Human-Computer Interaction
  • Software

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