Title :
A tactile shape display using RC servomotors
Author :
Wagner, Christopher R. ; Lederman, S.J. ; Howe, Robert D.
Author_Institution :
Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA
Abstract :
Tactile displays are used to convey small-scale force and shape information to the tip of the finger. In this paper, we present a 6×6 tactile shape display that uses commercial radio-controlled (RC) servomotors to actuate an array of mechanical pins. The display has a maximum pin deflection of 2 mm along with a resolution of 4 bits. Pin spacing is 2 mm with a pin diameter of 1 mm. The display can accurately represent frequencies up to 25 Hz for small amplitudes and the slew rate is limited at 38 mm/sec for larger amplitudes
Keywords :
force feedback; haptic interfaces; servomotors; 2 mm; PWM voltage signal; force feedback; radio-controlled servomotors; shape information; tactile shape display; Actuators; Bandwidth; Displays; Minimally invasive surgery; Pins; Pulse width modulation; Servomechanisms; Servomotors; Shape; Skin;
Conference_Titel :
Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7695-1489-8
DOI :
10.1109/HAPTIC.2002.998981
