Title :
A Haptic Knob with a Hybrid Ultrasonic Motor and Powder Clutch Actuator
Author :
Chapuis, Dominique ; Michel, Xavier ; Gassert, Roger ; Chew, Chee-Meng ; Burdet, Etienne ; Bleuler, Hannes
Author_Institution :
Lab. de Systemes Robotiques, Ecole Polytechnique Federate de Lausanne
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
Keywords :
actuators; clutches; handles; torque control; ultrasonic motors; haptic knob; hybrid ultrasonic motor; powder clutch actuator; torque controlled clutch; velocity source; Actuators; Bandwidth; Displays; Haptic interfaces; Mechanical factors; Powders; Robots; Testing; Torque control; Velocity control;
Conference_Titel :
EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint
Conference_Location :
Tsukaba
Print_ISBN :
0-7695-2738-8