Shaky Hand: A Novel Laboratory Demonstrator

Yoshikazu Hirayama, Tim Clarke

Research output: Contribution to journalArticlepeer-review


Shaky Hand system is a new, visually appealing laboratory demonstrator. It is presented as a novel concept for use in control education-as an effective combination of mechanical and electronic hardware, firmware and software. Based on a simple village fete game, the aim is to guide, under feedback control, a wire loop along a meandering wire track from one end to another, without touching the loop to the track. The system utilizes a set of electromagnetic proximity sensors to locate and follow the track. This paper describes the mechanical and electrical components that make up Shaky Hand, and the control strategy that is used to effect successful control action. Shaky Hand is also implemented in simulation, and the paper describes the mathematical modelling.

Original languageEnglish
Article number5208379
Pages (from-to)622-635
Number of pages14
JournalIEEE Transactions on Control Systems Technology
Issue number3
Publication statusPublished - May 2010


  • Control
  • demonstrator
  • hardware

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