Implementation of haptic feedback using current control of brushed DC motors

Authors: Golubev M.P.
Published in issue: #5(106)/2026
DOI:
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: electric drive, mechatronics, control system, bilateral control, current control, servo drive, PID controller
Published: 23.10.2026

The severance of the mechanical link between the operator and the manipulated object leads to a complete loss of haptic information, which reduces operational precision and renders the control process unsafe. This paper proposes a method for restoring mechanical feedback by introducing current feedback into the system. This approach enables accurate load torque estimation without the use of specialized sensors, allowing for the design of a simple and reliable bilateral control system. The paper provides a detailed description of the haptic feedback implementation using current control for DC brushed motors: the system architecture is developed, the component base is selected, and the control loops are established. The developed experimental setup allows for the investigation of processes within the proposed bilateral control system.

References

[1] Tsuji T., Natori K., Nishi H., Ohnishi K. A Controller Design Method of Bilateral Control System. EPE Journal, 2006, vol. 16, no. 2, pp. 22–28. https://doi.org/10.1080/09398368.2006.11463616

[2] Murakami T., Yu F., Ohnishi K. Torque Sensorless Control in Multidegree-of-Freedom Manipulator. IEEE Transactions on Industrial Electronics, 1993, vol. 40, no. 2, pp. 259–265. https://doi.org/10.1109/41.222648

[3] Katsura S., Matsumoto Y., Ohnishi K. Modeling of Force Sensing and Validation of Disturbance Observer for Force Control. IEEE Transactions on Industrial Electronics, 2007, vol. 54, no. 1, pp. 530–538. https://doi.org/10.1109/TIE.2006.885459

[4] Abeykoon A.M.H.S., Ohnishi K. Implementation of Pedal Feeling for Brake by Wire System Using Bilateral Control. Proceedings of the 2008 IEEE International Symposium on Industrial Electronics, 2008, pp. 1347–1352. https://doi.org/10.1109/ISIE.2008.4677132

[5] Akishin S.V. Printsipy upravleniya H-mostom na klyuchevykh elementakh [Principles of H-bridge control using switching elements]. E-Scio, 2020, no. 1 (40), pp. 136–141. (In Russ.).

[6] Infineon Technologies AG. BTS 7960: High Current PN Half Bridge: NovalithIC™ [Data Sheet]. Rev. 1.1. Munich, Infineon Technologies AG, 2004, 28 p. Available at: https://www.infineon.com/assets/row/public/documents/10/57/infineon-bts7960-ds-en.pdf (accessed April 15, 2026).

[7] Allegro MicroSystems. ACS712: Fully Integrated, Hall-Effect-Based Linear Current Sensor IC with 2.4 kVRMS Isolation and a Low-Resistance Current Conductor [Data Sheet]. ACS712-DS, Rev. 22, 2024. Available at: https://www.allegromicro.com/-/media/files/datasheets/acs712-datasheet.ashx (accessed April 15, 2026).

[8] STMicroelectronics. STM32F401xB STM32F401xC: Arm® Cortex®-M4 32-bit MCU+FPU, 105 DMIPS, 256KB Flash / 64KB RAM, 11 TIMs, 1 ADC, 11 comm. interfaces [Data Sheet]. DS9716 Rev. 11. Geneva, STMicroelectronics, 2019, 139 p. Available at: https://www.st.com/resource/en/datasheet/stm32f401cb.pdf (accessed April 15, 2026).

[9] Denisenko V.V. PID-regulyatory: voprosy realizatsii. Chast1 [PID controllers: implementation issues. Part 1]. STA. Sovremennye tekhnologii avtomatizatsii, 2007, no. 4, pp. 86–97. (In Russ.).

[10] Smith S.W. The Scientist and Engineer’s Guide to Digital Signal Processing. San Diego, California Technical Publishing, 1997, 626 p.