Swindells, C., MacLean, K. E. (2006). "Captured Dynamics Data of 5 Mechanical Knobs", Technical Report TR-2006-14, UBC Dept. of Computer Science, Vancouver, 2006.
Torque models are presented for five mechanical knobs that were characterized using the rotary haptic camera shown Figure 1. Non-linear least squares fitting was used to estimate model parameters for position, velocity, and acceleration model parts. Additionally, two simulated knobs were modeled to test the accuracy of the characterization algorithm.