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"Design and Performance of a High Fidelity, Low Mass, Linear Haptic Display", Weir, D.W.; Peshkin, M.A.; Colgate, J.E.; Buttolo, P.; Proc. First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. WHC 2005. 18-20 March 2005 pp177-182 Abstract We built a high fidelity, low mass, linear haptic display, with a peak force output of 8.5 Newtons, continuous force output of 1.3 Newtons, range of motion of approximately 15 millimeters, sensing resolution of 0.5 microns, and a -3dB bandwidth of approximately 550 Hz. By having low apparent mass of approximately 5 grams, we can realistically render linear switches, which themselves have a moving mass of only a few grams. This device utilizes a low inertia rotary motor, but over only a limited range of motion, allowing it to be driven without commutation. We constructed a linear, current controlled amplifier to drive the system. Additionally, the motor windings allow us to use electrical damping to add physical damping to the system to improve its performance. |