Low cost, single-axis force reflecting joysticks were used to teach students about electromechanical systems, dynamics and controls. The students assembled the devices from kits, tested and analyzed them, and used them to interact with computer models of dynamic systems. The devices helped students to appreciate such phenomena as equivalent inertia, friction and the effects of changing control system parameters. They also generated high enthusiasm among the students, particularly when used in cooperative “haptic video games” at the end of the course.

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