World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
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.
S. Haliyo, G. Millet, S. Regnier and V. Hayward, "The ultimate haptic device: First step," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 273-278.