Design and control of a haptic device with hybrid actuation

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Haptic devices with kinaesthetic feedback are now a fundamental building block in modern simulation training within skilled professions such as education, manufacturing, and medicine. Kinaesthetic feedback improves simulation realism and has been shown to increase the retention of skills learned in virtual reality (VR). Haptic devices often use electric motors to generate forces to the user. Regrettably, they suffer from an inherent tradeoff between performance and stability, which significantly limits their performance. An alternative to motors are brakes or dampers, but passive actuators are limited to dissipating energy. A configuration with hybrid actuation combining brakes and motors is a promising solution to integrate the advantages of each actuator type and substantially improve the performance of contemporary haptic devices and haptic simulation. Haply Robotics, a Montréal-based company specializing in haptic devices, recognizes the potential of new forms of actuation and control algorithms to push the boundaries of haptic simulation. The goal of this collaborative partnership between Haply and Carleton teams is threefold: (1) determine the optimal design of a low-cost hybrid actuator, (2) implement the actuator in one of their haptic devices, and (3) determine the optimal kinematic structure based on the outcomes learned in (2). The scope of this project holds great promise from practical and theoretical standpoints. The haptic market is exponentially growing worldwide. The development of a low-cost haptic device with improved performance can be a pivotal point to democratize the technology and boost its use across emerging domains. Advances facilitated by this collaboration can put Haply further at the forefront of R&D to respond to the exponentially growing interest in haptics technology in the country. New forms of training in haptic-enabled VR will benefit Canadians in multiple key economic sectors, particularly in education, manufacturing, and medicine.