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.
- Dynamic Systems and Control Division
A Finger-Motion Adaptive Algorithm for Braille Reading: Application of Active Disturbance Rejection Control
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Ulusoy, M, & Sipahi, R. "A Finger-Motion Adaptive Algorithm for Braille Reading: Application of Active Disturbance Rejection Control." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. Columbus, Ohio, USA. October 28–30, 2015. V001T09A005. ASME. https://doi.org/10.1115/DSCC2015-9965
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