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High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable


Conference Paper


Clever electromechanical design is required to make the force feedback delivered by a kinesthetic haptic interface both strong and safe. This paper explores a onedimensional haptic force display that combines a DC motor and a magnetic particle brake on the same shaft. Rather than a rigid linkage, a spooled cable connects the user to the actuators to enable a large workspace, reduce the moving mass, and eliminate the sticky residual force from the brake. This design combines the high torque/power ratio of the brake and the active output capabilities of the motor to provide a wider range of forces than can be achieved with either actuator alone. A prototype of this device was built, its performance was characterized, and it was used to simulate constant force sources and virtual springs and dampers. Compared to the conventional design of using only a motor, the hybrid device can output higher unidirectional forces at the expense of free space feeling less free.

Author(s): Hu, Siyao and Kuchenbecker, Katherine J.
Book Title: Proceedings of the IEEE World Haptics Conference (WHC)
Pages: 394--399
Year: 2017
Month: June
Day: 6--9

Department(s): Haptic Intelligence
Research Project(s): Gait Propulsion Trainer
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/WHC.2017.7989934

Address: Munich, Germany
State: Published


  title = {High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable},
  author = {Hu, Siyao and Kuchenbecker, Katherine J.},
  booktitle = {Proceedings of the IEEE World Haptics Conference (WHC)},
  pages = {394--399},
  address = {Munich, Germany},
  month = jun,
  year = {2017},
  month_numeric = {6}