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A New Actuation Approach for Haptic Interface Design

Artificial Intelligence Laboratory, Stanford University, Stanford, CA, 94305, USA, conti{at}ai.stanford.edu

Oussama Khatib

Artificial Intelligence Laboratory, Stanford University, Stanford, CA, 94305, USA, ok{at}ai.stanford.edu

Traditional haptic interfaces available today use motors to generate forces, while a more recent class of devices uses passive elements to constrain movement. This paper presents a new hybrid actuation approach that combines the use of brakes, springs and motors. The proposed actuation design is potentially safer and more energy efficient than haptic devices that only rely on motors for actuation, and also overcomes many of the rendering limitations displayed by existing passive haptic displays. Applications of this new technology range from devices where safety and reliability are of prime concerns (e.g. large force-feedback interfaces) to devices which can only be powered by limited energy sources such as small batteries (e.g. portable haptic interfaces).

Key Words: force feedback • interface design • haptic devices • hybrid actuation

The International Journal of Robotics Research, Vol. 28, No. 6, 834-848 (2009)
DOI: 10.1177/0278364908097958


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