The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems, Hyatt Regency, St. Louis, USA, Oct. 11-15, 2009

IROS 2009 Paper Abstract


Paper TuIVT6.5

Wilson, Robert (Stanford University), Niemeyer, Gunter (Willow Garage and Stanford University)

Improved Multi-DOF Haptics with Spring Drive Amplifiers

Scheduled for presentation during the Regular Sessions "Haptics IV" (TuIVT6), Tuesday, October 13, 2009, 17:20−17:40, Grand H

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, Hyatt Regency St. Louis Riverfront, St. Louis, USA

This information is tentative and subject to change. Compiled on March 22, 2019

Keywords Haptics and Haptic Interfaces, Motion Control


Spring drive amplifiers utilize the natural inductive properties of a DC motor to produce stronger position feedback than is achievable with traditional current amplifiers. Impedance-type haptics devices can leverage these amplifiers to render superior contacts with higher contact stiffness. Use of these amplifiers, however, requires the virtual environment to specify motion commands for each motor.

This work extends the recently developed 1-DOF integrated approach to multi-DOF applications. It presents a motion controller working with spring drive amplifiers, together producing the maximum achievable isotropic Cartesian stiffness. Isotropy is necessary to guarantee that haptic contact forces are rendered in the correct direction. The system is implemented on a PHANTOM 1.0 haptic device and analytic performance is verified by experiment.



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