Design of a 2 D.O.F. Haptic Device

Abstract

This thesis describes the design and the testing of a two-degree-of-freedom haptic interface. The purpose of the interface is to evaluate the performance that can be achieved using an ultrasonic motor in series with a magnetic particle clutch as actuators for each degree of freedom. The combination of these two components will result in a hybrid actuator, which has active and passive operation modes. The device was designed to feature low undesirable dynamics and low inertia. Each component was evaluated individually to find out its influence on the performance of the interface. The interfaceb