Optimization of asymmetric acceleration waveform for haptic device driven by 2-DOF oscillatory actuator

The asymmetric acceleration waveform shown is not necessarily the best waveform since it has not been optimized. In this paper, first, how the properties of the asymmetric acceleration properties are related to haptic perception is investigated by conducting experiments on volunteers. Then, by applying a genetic algorithm to the optimization method, an optimized asymmetric acceleration waveform is created. Finally, we verify the effectiveness of the optimized acceleration waveform is verified through 3-D finite element analysis and also experiments on volunteers.