Haptic paddle and fuzzy based virtual environment model control system as a didactic tool

The paper deals with design, construction and implementation of bilateral control system using fuzzy regulation. The aim of paper is implementation of a system which can be used as a didactic tool for better understanding of bilateral control concepts, as well as a base for further work. The system is composed of mechanical model of haptic paddle with one degree of freedom and virtual model of haptic paddle and its environment, interconnected using acquisition card. Virtual environments control is created using fuzzy logic. After implementing control algorithm and connecting two models - the mechanical and virtual, the functionality of system was confirmed by experimental data.