Currently existing refreshable Braille displays suffer from high costs, which prevent their affordability. A rotating wheel with refreshable Braille and utilizing finger-motion adaptation can help create realistic Braille reading experience, while significantly reducing the high costs by offsetting the number of actuators needed to display Braille. In this paper, we design a real-time controller to adjust the speed of the rotating wheel system based on the finger motions of the user. Due to unknown dynamics of the rotating wheel system, active disturbance rejection control (ADRC) has been implemented to estimate the total disturbance acting on the system. This estimate is then used to eliminate the internal disturbance of the system so that disturbances associated with finger touch on the wheel can be predicted. Real-time experimental results show that even without the knowledge of the system model, it is possible to adapt the speed of the rotating wheel based on these finger touch predictions.

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