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A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics

https://doi.org/10.1109/WHC.2019.8816146

Parthiban, Chembian ; Dills, Patrick ; Fufuengsin, It ; Colonnese, Nick ; Agarwal, Priyanshu ; Zinn, Michael ( July 2019 , 2019 IEEE World Haptics Conference (WHC))

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.
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