This project, developing research devices for levitation of surfaces, pursues research projects in control and human-computer interaction (HCI), additionally enabling the physical simulation of virtual reality. The infrastructure services research topics in multivariable nonlinear control, electromagnetic modeling and analysis, haptic interaction, and general physical HCI. Two testbeds will be built: A
-Haptic device with Lorentz force actuation and 25 mm and 45 degree motion ranges for a handle for human interaction, and -Planar device for levitation of a flat platform by electromagnetic repulsion, capable of lifting a 100 kg human and with a 25 mm vertical range and arbitrarily large horizontal range.
Due to the increasingly large memories and high computational speeds currently available in embedded processor control systems, the researchers compensate variations in magnetic levitation devices over large ranges of motion with sophisticated multivariable nonlinear control methods. Applications include medical training simulations, sensitive force-reflecting teleoperation, vehicle simulations, physical rehabilitation, vibration isolation, and the study of human haptic perception and task performance.
Broader Impact: The use of magnetics, non-linear control and finite-element simulation provide a novel combination for the development of a new class of devices. The new haptic devices might support new kinds of haptic studies, inspire others, and enable a beginning researcher to set up a laboratory and train students in different areas.
