Implementation of a dedicated Haptic Controller with FPGA

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I describe a high definition and high efficient haptic controller for wire driven haptic device. The control frequency of the haptic device is an important factor in the stability and fidelity. The conventional linear drive system is inefficient, difficult to miniaturize. The low frequency PWM motor drive system is difficult to rotate smoothly in high performance (low-inductance) DC motor. We aim for generate a high frequency of 205kHz (11bit) PWM control signal by using FPGA. Impedance control and admittance control are also implemented in FPGA as a PID control. The controller achieved high quality, high efficiency and compact system.