The
High-Bandwidth Force Display (HBFD)
Abstract
The
High-Bandwidth Force Display (HBFD) is a 2 degree-of-freedom,
planar, haptic display with cartesian kinematics. A large
workspace and high force output make the device well suited for
full arm manipulation in virtual environments. A 266 MHz
Pentium II PC provides computational power for the HBFD with interrupt
level software running at 1000 Hz. In both the x- and y-
axis, brushless motors drive a pair of cable transmissions through
a rotating torque shaft. Each pair of cable
transmissions is coupled by a pair of linear motion shafts.
Sliding in planar motion on the linear shafts is a stage, with
a handle mounted on top. An integrated load cell between
the stage and the handle measures interaction forces between the
device and the human operator.
Specifications
| Active
Degrees-of-Freedom |
2
(translational) |
| Workspace |
300x400
mm2 (12x16 in2) |
| Maximum
Force - continuous/peak |
100
N (22.5 lbf) / 400 N (90 lbf) |
| Position
Resolution |
0.015
mm (0.0006 in) |
| Backdrive
Friction |
5
N (1.1 lbf) |
| Inertia
- apparent at handgrip |
4.0
kg |
Research
Projects
Haptic
Feedback of Manipulator Kinematic Conditioning for Teleoperation
Publications
(*)
(*)
Note: Most of the BRL
publications are available on-line in a PDF format.
You may used the publication's reference number as a link to the
individual manuscript.
[Th009]
M.R. Moreyra,
'Design of a Five Degree of Freedom Direct Drive Mini-Robot Using
Disk Drive Actuators,' MSME Thesis, University of Washington,
Department of Mechanical Engineering, June 1994.
[117]
M. Moreyra, B. Hannaford,
'A Practical Measure of Dynamic Response of Haptic Devices,'
Proc. IEEE Intl. Conf. on Robotics and Automation, Leuven, Belgium,
May, 1998.
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