Shared control is becoming widely used in many manual control tasks as a mean for improving performance and safety. Designing an e ective shared control system requires extensive testing and knowledge of how operators react to the haptic sensations provided by the control device shared with the support system. Commercial general purpose haptic devices may be un t to reproduce the operational situation typical of the control task under study, like car driving or airplane ying. Thus speci c devices are needed for research on speci c task; this market niche exists but is characterized by expensive products. This paper presents the development of a complete low cost haptic stick, of its initial characterization and inner loop and impedance control systems design, and nally proposes an evaluation with two test cases: pilot admittance identi cation with the classical tasks, and an entire haptic experiment. In particular this latter experiment tries to study what happens when a system failure happens in a pilot support system built using a classical embedded controller, compared to a system built following the haptic shared control paradigm.
Keywords: {shared control, haptic aid, force feedback, motor control}
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