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Robotics and Automation Lab Haptic joystick with spherical MR-brake and servomotors

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.







  • “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.