Haptic joystick with spherical MR-brake and servomotors

This research explored the design of a compact haptic joystick. The new device takes advantage of a compact and powerful multi-DOF spherical MR-brake for rigid virtual object rendering and can simulate sliding on a virtual surface with the help of two motors. A simple control algorithm was developed for hybrid actuation to transfer torque production from the brake to the motors at contact with a virtual object.

 

 

 

 

 

Publications

• “A First Order Transfer Function to Balance the Workload in Brake-Motor Hybrid Actuators”, 2014 IEEE Haptics Symposium, Feb. 2014, Houston, TX, USA.
• “Haptic Device With Spherical MR-Brake For Wrist Rehabilitation,” Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Portland, OR, August 2013.