Wideband force sensing for haptic energy transmission utilizing FPGA

Abstract

Haptic and/or tactile information has been paid attention as the third multimedia information. An electric motor with the disturbance observer is a good candidate to achieve haptic ability because it is possible to match actuation and sensation. Furthermore, it is possible to convert haptic energy into electric energy. The paper discusses necessity for the framework of haptic energy transmission. Especially, the paper proposes both theory and implementation method. To enlarge the bandwidth of a disturbance observer, the paper proposes super wideband force sensing using a field-programmable gate array (FPGA). Since an FPGA is implemented in it, the control performance is superior to humanpsilas sensation. The experimental results show viability of the proposed method.