A new actuation approach for haptic interface design

Abstract

The continuing emergence of computer haptics for training, industrial and entertainment applications has increased the need for cheaper, safer and smaller tactile display solutions. Today most force-feedback interfaces [8, 9, 10, 13, 14] come in the form of small robot manipulators: these systems use electrical motors to generate forces and joint sensors to measure spatial position. The main difference between them resides in their way of operating: while robots are generally programmed to perform active tasks such as moving to a desired position or carrying a load, haptic devices are moved directly by the operator and are programmed to constrain hand motion. The use of electrical motors to reproduce high fidelity tactile sensations has also introduced the risk of striking the user; with rare exceptions, safety concerns have also limited motor-actuated haptic devices to small workspaces. © 2008 Springer-Verlag Berlin Heidelberg.