Interacting with virtual environments using a magnetic levitation haptic interface

TitleInteracting with virtual environments using a magnetic levitation haptic interface
Publication TypeConference Paper
Year of Publication1995
AuthorsBerkelman, P. J., R. L. Hollis, and S. E. Salcudean
Conference NameIntelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Pagination117 -122 vol.1
Date Publishedaug.
Keywords1 kHz, 50 Hz, digital velocity estimator, dry friction, dynamic interaction, hard solid contacts, high-performance magnetic levitation haptic interface, interactive devices, magnetic levitation, simulated environments, textured surfaces, virtual environment interaction, virtual reality, viscous friction
Abstract

A high-performance magnetic levitation haptic interface has been developed to enable the user to interact dynamically with simulated environments by holding a levitated structure and directly feeling its computed force and motion responses. The haptic device consists of a levitated body with six degrees of freedom and motion ranges of plusmn;5 mm and plusmn;3.5 degrees in all directions. The current device can support weights of up to 20 N and can generate a torque of 1.7 Nm. Control bandwidths of up to 50 Hz and stiffnesses from 0.01 to 23 N/mm have been achieved by the device using a digital velocity estimator and 1 KHz control on each axis. The response of the levitated device has been made successfully to emulate virtual devices such as gimbals and bearings as well as different dynamic interactions such as hard solid contacts, dry and viscous friction, and textured surfaces

URLhttp://dx.doi.org/10.1109/IROS.1995.525784
DOI10.1109/IROS.1995.525784

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