Torque feedback control of dry friction clutches for a dissipative passive haptic interface

The control of a passive dissipative haptic interface using electromagnetic dry friction clutches as actuators is considered. The performance of the device is currently limited by the actuator performance. A dynamic simulation of the system indicates that the actuator torque may be better controlled with torque feedback, resulting in improved path-following performance of the haptic interface. Experimental tests are presented which illustrate the validity of the simulation and feasibility of implementing torque feedback control on the system clutches