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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
The ultimate haptic device: First step
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Guillaume Millet, UPMC Univ Paris 06, UMR 7222, Institut des Syst
Sinan Haliyo, UPMC Univ Paris 06, UMR 7222, Institut des Syst
Stephane Regnier, UPMC Univ Paris 06, UMR 7222, Institut des Syst
Vincent Hayward, UPMC Univ Paris 06, UMR 7222, Institut des Syst
We describe a single-axis haptic interface which is based on a dual-stage actuator technique and which is aimed at achieving perfect transparency to a human user. The paper shows how all parasitic forces arising from inertia and friction can be brought below human detection thresholds, yet, the system is able to output significant torque. It has a stage with a large motor coupled to a distal stage with a smaller motor via a viscous coupler based on the principle of eddy current induction. The paper also describes its control principle and preliminary results.
Citation:
Guillaume Millet, Sinan Haliyo, Stephane Regnier, Vincent Hayward, "The ultimate haptic device: First step," whc, pp.273-278, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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