Magnetic Levitation Haptic Device
Device Configuration:
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| Magnetic Levitation Device Cabinet |
Hand Operation of Magnetic Levitation Haptic Device |
- The maglev device, power supplies, amplifiers and and control processors are contained in one desktop-height cabinet
- A handle for the user to grasp protrudes from a bowl embedded in the cabinet top
- The range of motion and sensitivity is suited for fingertip manipulation with the wrist resting on the bowl rim
- This configuration is ergonomic and easy to use with a desktop computer
Design:
1) Levitated inner hemisphere bowl with coils and handle:
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2) Fixed sensor and magnet assembly configuration:
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3) Outer shell with wrist rest and rim for inset into cabinet: |
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Performance Results:
- Motion range: 15-20 degrees rotation, 25 mm translation
- Levitated flotor : 550 g, 2.5 W to levitate
- Maximum stiffness of 25 N/mm at 1500 Hz servo
- Maximum force and torque of 55 N and 6 Nm
- 5-10 um position sensitivity
Position Frequency Response for Small Motion Commands