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Rendering Forces With a Modular Cable System, Motors, and Brakes

Jan Ulrich Bartels, Alexander Achberger, Katherine J. Kuchenbecker, Michael Sedlmair

Abstract

We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a motor and a brake, enabling it to smoothly render active forces up to 6 N using its motor and collision forces up to 186 N using its passive one-way brake. The modular design, meanwhile, allows the system to deliver rich haptic feedback in a flexible number of DoF and widely ranging configurations.

Rendering Forces With a Modular Cable System, Motors, and Brakes

Abstract

We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a motor and a brake, enabling it to smoothly render active forces up to 6 N using its motor and collision forces up to 186 N using its passive one-way brake. The modular design, meanwhile, allows the system to deliver rich haptic feedback in a flexible number of DoF and widely ranging configurations.
Paper Structure (6 sections, 3 figures)

This paper contains 6 sections, 3 figures.

Table of Contents

  1. Introduction
  2. Hardware
  3. Software
  4. Modular Force-Rendering Algorithm
  5. Technical Validation
  6. User Study

Figures (3)

  • Figure 1: Illustration of the hybrid motor-brake actuation in each module.
  • Figure 2: Intended vs. measured force. Blue circles denote the intended force vectors, and red vectors show the corresponding errors of the rendered forces.
  • Figure 3: The five VR scenarios featured across our user studies. On top: the view in VR. On the bottom: the system configuration. The five scenarios are: (A) material simulation, (B) body collision, (C) recoil simulation, (D) weight simulation, and (E) bow simulation.