Name
Abstract | ||
|---|---|---|
Realizing high performance force feedback through a handheld haptic interface is challenging due to the limitations on actuator selection imposed by form factor requirements including size, weight, and cost. Here, we introduce a hybrid actuation mechanism composed of a geared motor and two active unidirectional clutches to achieve an increased impedance range and improve performance. One clutch is used to selectively couple a free end-effector to the geared motor only during haptic rendering, eliminating the high inertia of the geared motor in free space. A second clutch is used to ground the end-effector directly to the device body, allowing the device to render large force without stalling the motor. This hybrid mechanism renders free space and solid objects effectively in a passive manner and extends the impedance rendering capability of a haptic interface driven by a small motor while keeping the device lightweight, energy-efficient, safe, and low-cost. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/LRA.2021.3068700 | IEEE Robotics and Automation Letters |
Keywords | DocType | Volume |
Haptics and haptic interfaces,virtual reality and interfaces,mechanism design,force control | Journal | 6 |
Issue | ISSN | Citations |
3 | 2377-3766 | 1 |
PageRank | References | Authors |
0.41 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Inrak Choi | 1 | 79 | 6.05 |
| Eric Gonzalez | 2 | 23 | 3.90 |
| Sean Follmer | 3 | 853 | 56.83 |