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Title: A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics
Hybrid actuation approaches for haptic interfaces generally suffer from asymmetry in active and passive torque capabilities. This paper describes the design of a high-performance balanced hybrid haptic device, which addresses the asymmetry by combining a high-power, low-impedance active compliant actuation (series-elastic actuator) with energy absorbing high-force passive actuation in parallel with a fast, low-power secondary active actuation. We describe the actuation, design and control approaches and experimentally validate the approach with a one degree-of-freedom testbed. The performance is compared with active only approach and results show significant improvements in stability and rendering range of the device.  more » « less
Award ID(s):
1830516
NSF-PAR ID:
10189010
Author(s) / Creator(s):
; ; ; ; ;
Date Published:
Journal Name:
2019 IEEE World Haptics Conference (WHC)
Page Range / eLocation ID:
283 to 288
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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