A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics
A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics
复制标题
DOI：
10.1109/whc.2019.8816146
复制
发表时间：
2019-07
期刊：
影响因子：
--
通讯作者：
C. Parthiban;P. Dills;It Fufuengsin;Nick Colonnese;Priyanshu Agarwal;M. Zinn
中科院分区：
文献类型：
--
作者：
C. Parthiban;P. Dills;It Fufuengsin;Nick Colonnese;Priyanshu Agarwal;M. Zinn
用于触觉接口的混合致动方法通常遭受主动和被动扭矩能力的不对称。本文介绍了一种高性能的平衡混合触觉设备的设计，它解决了不对称性相结合的高功率，低阻抗的主动顺应性致动（串联弹性致动器）与能量吸收高力被动致动并行快速，低功率的二次主动致动。我们描述的驱动，设计和控制方法和实验验证的方法与一个自由度的试验台。与仅主动方法的性能进行了比较，结果表明该设备的稳定性和渲染范围有显着改善。
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.