Dynamic performance of a magnetic levitation haptic device
Identifieur interne : 001428 ( PascalFrancis/Checkpoint ); précédent : 001427; suivant : 001429Dynamic performance of a magnetic levitation haptic device
Auteurs : P. Berkelman [États-Unis] ; R. L. Hollis [États-Unis]Source :
- SPIE proceedings series [ 1017-2653 ] ; 1997.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
A new haptic interface device has been developed which uses Lorentz force magnetic levitation for actuation. With this device, the user grasps a floating rigid body to interact with the system. The levitated moving part grasped by the user contains curved oval wound coils and LEDs embedded in a hemispherical shell with a handle fixed at its center. The stationary base contains magnet assemblies facing the flotor coils and optical position sensors facing the flotor LEDs. The device is mounted in the top cover of a desk-side cabinet enclosure containing all the amplifiers, control hardware, microprocessing, and power supplies needed for operation. A network connection provides communication with a workstation to allow interaction with simulated 3D environments in real time. Ideally, the haptic interface device should reproduce the dynamics of the modelled or remote environment with such high fidelity that the user cannot distinguish interaction with the device from interaction with a real object in a real environment. In practice, this ideal can only be approached with a fidelity that depends on its dynamic properties such as position and force bandwidths, maximum forces and accelerations, position resolution, and realizable impedance range. The motion range of the moving part is approximately 25 mm and 15-20 degrees in all directions. A current of 0.75 A is required in three of the six coils to generate the vertical force to lift the 850 g levitated mass, dissipating only 13.5 W. Peak forces of over 50 N and torques of over 6 Nm are achievable with the present amplifiers without overheating the actuator coils. Other measured performance results include stiffness ranges from 0.005 N/mm to 25.0 N/mm and a position control bandwidth of approximately 75 Hz.
Affiliations:
Links toward previous steps (curation, corpus...)
Links to Exploration step
Pascal:98-0255129Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Dynamic performance of a magnetic levitation haptic device</title>
<author><name sortKey="Berkelman, P" sort="Berkelman, P" uniqKey="Berkelman P" first="P." last="Berkelman">P. Berkelman</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>The Robotics Institute, Carnegie Mellon University</s1>
<s2>Pittsburgh, PA 15213</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<placeName><region type="state">Pennsylvanie</region>
</placeName>
<orgName type="university">Université Carnegie-Mellon</orgName>
</affiliation>
</author>
<author><name sortKey="Hollis, R L" sort="Hollis, R L" uniqKey="Hollis R" first="R. L." last="Hollis">R. L. Hollis</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>The Robotics Institute, Carnegie Mellon University</s1>
<s2>Pittsburgh, PA 15213</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<placeName><region type="state">Pennsylvanie</region>
</placeName>
<orgName type="university">Université Carnegie-Mellon</orgName>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">98-0255129</idno>
<date when="1997">1997</date>
<idno type="stanalyst">PASCAL 98-0255129 INIST</idno>
<idno type="RBID">Pascal:98-0255129</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">001610</idno>
<idno type="wicri:Area/PascalFrancis/Curation">001510</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">001428</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Dynamic performance of a magnetic levitation haptic device</title>
<author><name sortKey="Berkelman, P" sort="Berkelman, P" uniqKey="Berkelman P" first="P." last="Berkelman">P. Berkelman</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>The Robotics Institute, Carnegie Mellon University</s1>
<s2>Pittsburgh, PA 15213</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<placeName><region type="state">Pennsylvanie</region>
</placeName>
<orgName type="university">Université Carnegie-Mellon</orgName>
</affiliation>
</author>
<author><name sortKey="Hollis, R L" sort="Hollis, R L" uniqKey="Hollis R" first="R. L." last="Hollis">R. L. Hollis</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>The Robotics Institute, Carnegie Mellon University</s1>
<s2>Pittsburgh, PA 15213</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<placeName><region type="state">Pennsylvanie</region>
</placeName>
<orgName type="university">Université Carnegie-Mellon</orgName>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">SPIE proceedings series</title>
<idno type="ISSN">1017-2653</idno>
<imprint><date when="1997">1997</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">SPIE proceedings series</title>
<idno type="ISSN">1017-2653</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Graphical interface</term>
<term>Magnetic force</term>
<term>Magnetic suspension</term>
<term>Real time</term>
<term>Remote operation</term>
<term>Robotics</term>
<term>Tactile sensitivity</term>
<term>User interface</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term>
<term>Téléopération</term>
<term>Suspension magnétique</term>
<term>Force magnétique</term>
<term>Temps réel</term>
<term>Sensibilité tactile</term>
<term>Interface utilisateur</term>
<term>Interface graphique</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">A new haptic interface device has been developed which uses Lorentz force magnetic levitation for actuation. With this device, the user grasps a floating rigid body to interact with the system. The levitated moving part grasped by the user contains curved oval wound coils and LEDs embedded in a hemispherical shell with a handle fixed at its center. The stationary base contains magnet assemblies facing the flotor coils and optical position sensors facing the flotor LEDs. The device is mounted in the top cover of a desk-side cabinet enclosure containing all the amplifiers, control hardware, microprocessing, and power supplies needed for operation. A network connection provides communication with a workstation to allow interaction with simulated 3D environments in real time. Ideally, the haptic interface device should reproduce the dynamics of the modelled or remote environment with such high fidelity that the user cannot distinguish interaction with the device from interaction with a real object in a real environment. In practice, this ideal can only be approached with a fidelity that depends on its dynamic properties such as position and force bandwidths, maximum forces and accelerations, position resolution, and realizable impedance range. The motion range of the moving part is approximately 25 mm and 15-20 degrees in all directions. A current of 0.75 A is required in three of the six coils to generate the vertical force to lift the 850 g levitated mass, dissipating only 13.5 W. Peak forces of over 50 N and torques of over 6 Nm are achievable with the present amplifiers without overheating the actuator coils. Other measured performance results include stiffness ranges from 0.005 N/mm to 25.0 N/mm and a position control bandwidth of approximately 75 Hz.</div>
</front>
</TEI>
<inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>1017-2653</s0>
</fA01>
<fA05><s2>3206</s2>
</fA05>
<fA08 i1="01" i2="1" l="ENG"><s1>Dynamic performance of a magnetic levitation haptic device</s1>
</fA08>
<fA09 i1="01" i2="1" l="ENG"><s1>Telemanipulator and telepresence technologies IV : Pittsburgh PA, 14-15 October 1997</s1>
</fA09>
<fA11 i1="01" i2="1"><s1>BERKELMAN (P.)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>HOLLIS (R. L.)</s1>
</fA11>
<fA12 i1="01" i2="1"><s1>DE VRIES (Marten J.)</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="02" i2="1"><s1>KACHROO (Pushkin)</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="03" i2="1"><s1> 3:ZBAY (Kaan)</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="04" i2="1"><s1>CHACHICH (Alan C.)</s1>
<s9>ed.</s9>
</fA12>
<fA14 i1="01"><s1>The Robotics Institute, Carnegie Mellon University</s1>
<s2>Pittsburgh, PA 15213</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</fA14>
<fA18 i1="01" i2="1"><s1>International Society for Optical Engineering</s1>
<s2>Bellingham WA</s2>
<s3>USA</s3>
<s9>patr.</s9>
</fA18>
<fA20><s1>140-149</s1>
</fA20>
<fA21><s1>1997</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA26 i1="01"><s0>0-8194-2638-5</s0>
</fA26>
<fA43 i1="01"><s1>INIST</s1>
<s2>21760</s2>
<s5>354000078905780150</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 1998 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>17 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>98-0255129</s0>
</fA47>
<fA60><s1>P</s1>
<s2>C</s2>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i2="1"><s0>SPIE proceedings series</s0>
</fA64>
<fA66 i1="01"><s0>USA</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>A new haptic interface device has been developed which uses Lorentz force magnetic levitation for actuation. With this device, the user grasps a floating rigid body to interact with the system. The levitated moving part grasped by the user contains curved oval wound coils and LEDs embedded in a hemispherical shell with a handle fixed at its center. The stationary base contains magnet assemblies facing the flotor coils and optical position sensors facing the flotor LEDs. The device is mounted in the top cover of a desk-side cabinet enclosure containing all the amplifiers, control hardware, microprocessing, and power supplies needed for operation. A network connection provides communication with a workstation to allow interaction with simulated 3D environments in real time. Ideally, the haptic interface device should reproduce the dynamics of the modelled or remote environment with such high fidelity that the user cannot distinguish interaction with the device from interaction with a real object in a real environment. In practice, this ideal can only be approached with a fidelity that depends on its dynamic properties such as position and force bandwidths, maximum forces and accelerations, position resolution, and realizable impedance range. The motion range of the moving part is approximately 25 mm and 15-20 degrees in all directions. A current of 0.75 A is required in three of the six coils to generate the vertical force to lift the 850 g levitated mass, dissipating only 13.5 W. Peak forces of over 50 N and torques of over 6 Nm are achievable with the present amplifiers without overheating the actuator coils. Other measured performance results include stiffness ranges from 0.005 N/mm to 25.0 N/mm and a position control bandwidth of approximately 75 Hz.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D02D11</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Robotique</s0>
<s5>01</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Robotics</s0>
<s5>01</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Robótica</s0>
<s5>01</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>02</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Suspension magnétique</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Magnetic suspension</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Suspensión magnética</s0>
<s5>03</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Force magnétique</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Magnetic force</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Fuerza magnética</s0>
<s5>04</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Temps réel</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Real time</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Tiempo real</s0>
<s5>05</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>06</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>User interface</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>07</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Interface graphique</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Graphical interface</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Interfaz grafica</s0>
<s5>08</s5>
</fC03>
<fN21><s1>166</s1>
</fN21>
</pA>
<pR><fA30 i1="01" i2="1" l="ENG"><s1>Intelligent transportation systems. Conference</s1>
<s3>Pittsburgh PA USA</s3>
<s4>1997-10-15</s4>
</fA30>
</pR>
</standard>
</inist>
<affiliations><list><country><li>États-Unis</li>
</country>
<region><li>Pennsylvanie</li>
</region>
<orgName><li>Université Carnegie-Mellon</li>
</orgName>
</list>
<tree><country name="États-Unis"><region name="Pennsylvanie"><name sortKey="Berkelman, P" sort="Berkelman, P" uniqKey="Berkelman P" first="P." last="Berkelman">P. Berkelman</name>
</region>
<name sortKey="Hollis, R L" sort="Hollis, R L" uniqKey="Hollis R" first="R. L." last="Hollis">R. L. Hollis</name>
</country>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001428 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 001428 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= PascalFrancis |étape= Checkpoint |type= RBID |clé= Pascal:98-0255129 |texte= Dynamic performance of a magnetic levitation haptic device }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |