Advanced Development of New Actuators for Human Sensory Feedback.
Abstract
The objective of this SBIR Phase II project was to develop a small magnetostrictive actuator using Terfenol-D. The device was configured to be applicable to dexterous force feedback. Several device configurations were studied. The final Terfenol-D actuator was configured as an inchworm motor. The device can be adjusted to be fully back-drivable. The motor is small (approx. 3cc), light weight (16 grams), and provides forces (10N max) and velocities (14.5 cm/sec' max) appropriate to the task of dexterous force feedback. The motor driven at 5 KHz could be used for both force and tactile feedback. The device was shown to be highly controllable by means of pulse-width modulation and current control methods. The device was demonstrated in several modes: constant force on a stationary object, arbitrary force output, constant force on an arbitrarily moving object and arbitrary velocity control.' Exoskeleton issues were explored and the motors are integrated into a rudimentary three degree of freedom, force-feedback finger with adjustable virtual axis joints. Each joint has a magnetostrictive motor, angle sensor and load cell. Electronic boards are controlled by simple software to demonstrate the motors and the force-feedback exoskeletal finder
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 01, 1995
- Accession Number
- ADA312966
Entities
People
- Allen P. Hilton
- H. R. Curtin
- J. M. Brown
- Kristofer J. James
- Owen D. Brimhall