A Hybrid Actuation Approach for Haptic Devices

This paper presents a new actuation approach which combines the use of brakes, springs and mini motors to produce a safer and more energy efficient way to drive haptic devices. The applications which can greatly benefit from this new technology include force-feedback interfaces which operate medical robots, an area where safety and reliability are of prime concerns, and small portable devices which can only be powered by limited energy sources such as small batteries. This work also addresses the problems of limited rendering capabilities which today are present on most passive haptic displays