Application of the Novint Falcon haptic device as an actuator in real-time control

Daniel J. Block, Mark B. Michelotti, Ramavarapu S. Sreenivas

Research output: Contribution to journalArticlepeer-review


This paper describes the development of an embedded system whose purpose is to control the Novint Falcon as a robot, and to develop a control experiment that demonstrates the use the Novint Falcon as a robotic actuator. The Novint Falcon, which is a PC input device, is "haptic" in the sense that it has a force feedback component. Its relatively low cost compared with other platforms makes it a good candidate for academic application in robot modeling and control. An embedded system is developed to interface with the multiple motors and sensors present in the Novint Falcon, which is subsequently used to control three independent Novint Falcons for a "ballon-plate" experiment. The results show that the device is a viable solution for high-speed actuation of small-scale mechanical systems.

Original languageEnglish (US)
Pages (from-to)182-193
Number of pages12
Issue number3
StatePublished - Dec 27 2013


  • electromechanical systems
  • embedded systems
  • haptic device

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Developmental Neuroscience
  • Cognitive Neuroscience
  • Artificial Intelligence
  • Behavioral Neuroscience


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