P. J. Berkelman, Z. J. Butler, and R. L. Hollis, "Design of a hemispherical magnetic levitation haptic interface device," in Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, (Atlanta), November 17-22 1996.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....of British Columbia Vancouver, BC, V6T 1Z4, Canada f tims ee.ubc.ca g ABSTRACT This paper presents the design of a 6 DOF desk top magnetically levitated force feedbackjoystick utilizing voice coil actuation. Relative to prior designs #Hollis et al. 1991#,#Salcudean et al. 1995#,#Berkelman et al. 1996#, this haptic interface features a novel geometry,anovel optical sensor and optimized actuation. These allow for all the electronics including the control microprocessor to be integrated in its base, with the device tapering from a handle 5.5 high to a footprint of 10.5 #5.5 . The device has a ....

....devices #Hollis et al. 1991# are suitable small motion haptic interfaces because of their low mechanical impedance and high acceleration ability. Devices have been built at IBM #Hollis et al. 1991#, University of British Columbia #Salcudean et al. 1995#, and Carnegie Mellon University #Berkelman et al. 1996#. With respect to prior maglev designs, the haptic interface presented in this paper has the following novel features: #i# a new cubic geometry leading to a smaller device with a perfectly conditioned transformation from actuator currents to resultant forces, #ii# a new, inexpensive, optical ....

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Berkelman, P.J., Butler, Z.H., Hollis, R.L., #Design of a hemispherical magnetic levitation haptic interface device," in Proc. 1996 ASME IMECE,vol. DSC-58, November 17-22 1996.

....only 4 degrees of freedom where force feedback is possible on only two of them, and that any motion is in the horizontal plane. Finally, the 6 degree of freedom magnetic interface developed by Carnegie Mellon University provides a high bandwidth, with only one moving part to the palm of the user [Berkelman, et al. 1996] (see Table 1, System 7) Work towards improved portability with more freedom of motion of non portable force feedback systems was done by Luecke and his colleagues at Iowa State University [Luecke, 1995] Their haptic interface consists of an exoskeleton hand master tracked and supported by a ....

Berkelman, P. J., Butler, Z. J., and Hollis, R. L., 1996, "Design of a Hemispherical Magnetic Levitation Haptic Interface Device," Proceedings of the 1996 ASME IMECE, Atlanta, November 17-22, 1996, DSC-Vol. 58, pp. 483-488.

.... cos g ( sin b ( sin b ( cos g ( sin b ( cos g ( cos = R A B R A B k R A B Z Y X k R A B k 1 = P A Q P A Q 1 2pf V A Q = 5 Initial testing of the instrument was conducted using the Magnetic Levitation Haptic Interface of Berkelman et al. [13] in place of the surgeon s hand. The MLHI is a 6 dof high bandwidth, high precision manipulator. Four preliminary tests were conducted: 1 dof translation; 1 dof translation with amplitude modulation; 3 dof translation; 6 dof motion. All oscillations were at approximately 11 Hz. ....

Berkelman, P. J., Butler, Z. J., Hollis, R. L.: Design of a hemispherical magnetic levitation haptic interface device. Proc. ASME IMECE, Atlanta, DSC Vol. 58 (1996) 483-488

....visual sensory component only. Their interaction and integration with auditory and haptic components are not explored so far. Haptic interface provides touch feedback and is considered an essential component in design and manipulation in virtual environments. Although there are many haptic devices [10, 11, 12, 13, 14, 15] many of which are in their experimental stages, the PHANToM haptic device [11] is one of the very few that are commercially available with a predictable performance. Although its three degrees of freedom for force actuation may be sufficient for many virtual environment applications, its software ....

P.J. Berkelman, Z.J. Butler, and R.L. Hollis. Design of a hemispherical magnetic levitation haptic interface device. ASME IMECE, DSC-Vol.58:483--488, 1996.

....a handle located at its center. The flotor coils, the free space around the flotor, and the magnet assemblies in the stator or base must must all conform to the spherically curved shape. Additional details of the device design 9 Figure 4: Hand Operation of the Haptic Device are described in [28]. The entire device is embedded in a compact desk height enclosure with the flotor handle and the top rim of the stator at the level of the desktop surface. This configuration allows the user s wrist and forearm to rest on the stator rim and desktop while the haptic device handle is manipulated ....

P. J. Berkelman, Z. J. Butler, and R. L. Hollis, "Design of a hemispherical magnetic levitation haptic interface device," in Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, (Atlanta), November 17-22 1996.

....the macro world, e.g. a user s hand. In the Microdynamic Systems Laboratory at Figure 3: Feeling atomic landscapes by telemanipulation (see text) Carnegie Mellon University, we are developing highperformance six degree of freedom haptic interface devices based on Lorentz magnetic levitation [18]. Primarily intended for interaction with virtual environments, it is hoped this new device will also be appropriate as a telemanipulation master, especially in scaled systems, because of its design which uses a single, frictionless moving part with direct drive high resolution (3 m) high ....

P. J. Berkelman, Z. J. Butler, and R. L. Hollis, "Design of a hemispherical magnetic levitation haptic interface device," in Proc. ASME Symposium on Haptic Interfaces, (Atlanta), November 17-22 1996. to be published.

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P. J. Berkelman, Z. J. Butler, and R. L. Hollis, "Design of a hemispherical magnetic levitation haptic interface device," in Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, (Atlanta), November 17-22 1996.

....position sensing. A cutaway schematic of the magnetic levitation device showing the fixed stator with magnet and sensor assemblies and the levitated flotor with coils, LEDs, and the interaction handle is given in Fig. 1. Additional details of the device design are described in a design paper[13]. Our maglev device and its amplifiers, controller, and power supplies are contained in a single desktopheight cabinet shown in Fig. 2. The device cabinet can be easily positioned next to a desk for user operation with a graphical display, as in Fig. 3. The interaction handle of the device is at ....

P. J. Berkelman, Z. J. Butler, and R. L. Hollis, "Design of a hemispherical magnetic levitation haptic interface device," in Proc. of the ASME IMECE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, (Atlanta) , November 17-22 1996.

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