DC Motor Temperature Control in Haptic Devices**

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Motor overheat is a common problem in the field of haptics rendering. Typically, haptic system manufacturers include some sort of overheat protection in haptic devices, either by shutting down the device or reducing the maximum current when measured temperature reaches dangerous levels. However, the existing heating protection techniques are not efficient as they generally do not use the current state of the motor in addressing the problem. More precisely, they mainly use a fixed protection system regardless of the operating condition of the motor. In this proposal, a novel temperature control mechanism is considered to use the model of the DC motor in the haptic system to estimate the current condition of the motor and generate a compensating feedback control signal, in an adaptive fashion, accordingly. Advanced model-predictive control techniques will be used to generate the control signal. Furthermore, optimization methods will be used to minimize the effect of heating compensation in the overall performance of the haptic system.