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|Title:||A haptic knob with a hybrid ultrasonic motor and powder clutch actuator|
|Source:||Chapuis, D., Michel, X., Gassert, R., Chew, C.-M., Burdet, E., Bleuler, H. (2007). A haptic knob with a hybrid ultrasonic motor and powder clutch actuator. Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007 : 200-205. ScholarBank@NUS Repository. https://doi.org/10.1109/WHC.2007.5|
|Abstract:||In haptics, the forces to be displayed vary widely in terms of magnitude and bandwidth. A single actuator can hardly comply with these requirements. It has thus been proposed to combine electrical motors and passive devices in a hybrid actuator to cover a larger range of display able forces. In this paper, different hybrid actuators are reviewed and a novel hybrid USM/clutch actuator is presented. It has been developed for haptic applications and its principle is adaptable to MR compatible robots. The complementary dynamic properties of the USM, which is a velocity source, and a torque controlled clutch, lead to a simple mechanism offering more control modes and lower power consumption than previous hybrid actuators. A haptic knob is designed and realized to test this approach. It includes a differential gear that allows the powder brake to mimic the behavior of a clutch. Haptic effects such as springs or walls have been implemented and successfully tested on the prototype. © 2007 IEEE.|
|Source Title:||Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007|
|Appears in Collections:||Staff Publications|
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