A new hybrid actuator approach for force-feedback devices

Abstract

A new concept of hybrid actuator for haptic devices is proposed. This system combines a controllable magnetorheological brake with a conventional DC motor. Both actuators are linked through an overrunning clutch. Thus, the motor is connected to the handle while the brake can exert a resistive force only in a defined direction. This configuration enables the brake and the motor to be engaged at the same time because the torque imposed by the motor is not canceled by the brake. The concept and its control laws have been investigated using a 1-DOF haptic device. The experimental results show that is possible to combine a powerful brake with a small DC motor. This approach reduces the power consumption, expand the range of forces, achieve global stability in the system providing thereby safety to the user. Besides, the proposed independent control laws enable the actuator to be adaptable in many different haptic applications.