Design of a Hemispherical Magnetic Levitation Haptic Interface Device

Design of a Hemispherical Magnetic Levitationhaptic Interface

We are currently fabricating a haptic interface device to enable direct physical interaction with dynamic simulated three-dimensional environments by exerting and reacting to forces and motions between the user's hand and a magnetically levitated object. Our device uses magnetic levi-tation rather than a motorized linkage so that the dynamics are simple and actuator nonlinearities such as hyste...

Using Magnetic Levitation for Haptic Interaction

Magnetic levitation as a means of motion and force/torque control can provide many advantages for high-fidelity haptic interaction, as compared to motorized linkage and cable actuation. Impedance-based haptic interface devices function both as force display devices, generating forces and/or torques to be felt by the user, and as input devices, sensing the motions imparted by the user to the dev...

Simulation of the Admittance Control Based Haptic Interface Device

Dynamic Performance of a Magnetic Levitation Haptic Device

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 fac...

Interaction with a Realtime Dynamic Environment Simulation Using a Magnetic Levitation Haptic Interface Device

A high performance six degree-of-freedom magnetic levitation haptic interface device has been integrated with a physically-based dynamic rigid-body simulation to enable realistic user interaction in real time with a 3-D dynamic virtual environment. The user grasps the levitated handle of the device to manipulate a virtual tool in the simulated environment and feels its force and motion response...