Interacting with virtual environments using a magnetic levitation haptic interface

Berkelman, Peter; Hollis, R.L.; Salcudean, Septimiu E.

doi:10.1109/iros.1995.525784

Cited by 27 publications

(10 citation statements)

References 17 publications

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“…The Magic Wrist was adapted for haptic interaction by fixing it to a stationary base rather than a robotic arm (Berkelman et al, 1995), as shown in Figure 1. This device provided high control bandwidths, position resolution, and stiff haptic contacts, but its motion range is limited to less than 10 mm and 10 degrees rotation.…”

Section: Ibm Magic Wristmentioning

confidence: 99%

Using Magnetic Levitation for Haptic Interaction

Berkelman¹,

Dzadovsky²

2010

Advances in Haptics

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Section: Ibm Magic Wristmentioning

confidence: 99%

Using Magnetic Levitation for Haptic Interaction

Berkelman¹,

Dzadovsky²

2010

Advances in Haptics

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“…This device was originally designed as a ne-motion robot wrist for coarse-ne manipulation and later adapted for use as a haptic interface for mechanism emulation, solid contacts, and texture and friction experiments. 13 The magnet assemblies in this device are arranged in inner and outer rings and the otor coils are embedded in the sides of a hexagonal box. Three position sensing photodiodes on the inside of the otor and three narrow-beam LEDs on the stator are used for position sensing.…”

Section: Magnetic Levitation Devicesmentioning

confidence: 99%

<title>Dynamic performance of a magnetic levitation haptic device</title>

Berkelman

Hollis

1997

SPIE Proceedings

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A new haptic interface device has been developed which uses Lorentz force magnetic levitation for actuation. With this device, the user grasps a oating rigid body to interact with the system.The levitated moving part grasped by the user contains curved oval wound coils and LEDs embedded in a hemispherical shell with a handle xed at its center. The stationary base contains magnet assemblies facing the otor coils and optical position sensors facing the otor LEDs. The device is mounted in the top cover of a desk-side cabinet enclosure containing all the ampli ers, control hardware, microprocessing, and power supplies needed for operation. A network connection provides communication with a workstation to allow i n teraction with simulated 3D environments in real time.Ideally, the haptic interface device should reproduce the dynamics of the modelled or remote environment with such high delity that the user cannot distinguish interaction with the device from interaction with a real object in a real environment. In practice, this ideal can only be approached with a delity that depends on its dynamic properties such as position and force bandwidths, maximum forces and accelerations, position resolution, and realizable impedance range.The motion range of the moving part is approximately 25 mm and 15-20 degrees in all directions. A current o f 0.75 A is required in three of the six coils to generate the vertical force to lift the 850 g levitated mass, dissipating only 13.5 W. Peak forces of over 50 N and torques of over 6 Nm are achievable with the present ampli ers without overheating the actuator coils. Other measured performance results include sti ness ranges from 0.005 N mm to 25.0 N mm and a position control bandwidth of approximately 75 Hz.

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“…The 6dof Phantom [16] [4], the delta haptic device [11], the Virtuose 6D [2] or the Freedom6s [3] can provide the user with torque feedback in addition to translational force feedback. A magnetic levitation haptic interface [7] offers six degrees of freedom force feedback. Some systems are dedicated to torque feedback, such as the Gyro Moment Haptic Interface [1] or a Hand-Held Torque Feedback Device by Fukui et al [9].…”

Section: Introductionmentioning

confidence: 99%