The goal of this research project is the design and control of a high fidelity, small motion range, inexpensive haptic interface.
In prior work, we have proposed and demonstrated the effectiveness of Lorentz magnetic levitation in teleoperation [Salcudean et al '95] and mechanism emulation [Salcudean and Vlaar '95] by using the UBC maglev joystick.
Relative to prior designs, this haptic interface, called PowerMouse, features a novel geometry, a novel optical sensor and optimized actuation [Salcudean and Parker, 1997] . These allow for all the electronics and control microprocessor to be integrated in its base, with the device tapering from a handle 4" high to a footprint of 11"x5.5". The device has a maximum translational motion range of 3 mm limited by the actuation gap, and a maximum rotational motion range of +-5 degrees, limited by the sensor motion range. The moving mass of less than 300 grams will have maximum accelerations in excess of 150 m/s/s, and will be able to exert continuous forces as large as 16N. A table of characterisitics can be found in [Salcudean and Parker, 1997] .
PowerMouse, a desktop magnetically levitated haptic interface.
PowerMouse cubic flotor and stator mount on PCB.
PowerMouse flotor. A light cubic levitated structure with coils embedded in its faces.
PowerMouse stator. Twentyfour
magnets are arranged in a cubic structure matching the flotor coils.