Traditional haptic interfaces available today use motors to generate forces, while a more recent class of devices uses passive elements to constrain movement. This paper presents a new hybrid actuation approach that combines the use of brakes, springs and motors. The proposed actuation design is potentially safer and more energy efficient than haptic devices that only rely on motors for actuation, and also overcomes many of the rendering limitations displayed by existing passive haptic displays. Applications of this new technology range from devices where safety and reliability are of prime concerns (e.g. large force-feedback interfaces) to devices which can only be powered by limited energy sources such as small batteries (e.g. portable haptic interfaces).
Campion, G., Gosline, A.H. and Hayward, V. (2006). Initial results using Eddy current brakes as fast turn-on, programmable physical dampers for haptic rendering. Proceedings of the IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Arlington, VA, 25-26 March 2006, pp. 73-74.
2.
Colgate, J.E. and Brown, J.M. (1994). Factors affecting the z-width of a haptic display . Proceedings of the IEEE International Conference on Robotics and Automation, Las Alamitos, CA, 1994, pp. 3205-3210.
3.
Colgate, J.E., Peshkin, M.A. and Wannasuphoprasit, W. (1996). Nonholonomic haptic display . Proceedings of the IEEE International Conference on Robotics and Automation.
4.
Conti, F., Barbagli, F., and Salisbury, K. (2003). The CHAI libraries. Proceedings of Eurohaptics, Dublin, Ireland, June 2003.
5.
Conti, F. and Khatib, O. (2005). Spanning large workspaces using small haptic devices . Proceedings of World Haptics, Pisa, Italy, 2005.
6.
Delnondedieu, Y. and Troccaz, J. (1995). PADyC: a passive arm with dynamic constraints1 a prototype with two degrees of freedom. Proceedings of Medical Robotics and Computer Assisted Surgery, Baltimore, MD, 1995. Piscataway, NJ, IEEE, pp. 173-180.
7.
Diolaiti, N., Niemeyer, G., Barbagli, F., and Salisbury, K. (2005). A criterion for the passivity of haptic devices . Proceedings of the IEEE International Conference on Robotics and Automation, April 2005, pp. 2463-2468.
8.
Ernst, S. (2008). Robotic approach to catheter ablation. Current Opinion in Cardiology, 23: 28-31.
9.
Grange, S., Conti, F., Helmer, P., Rouiller, P. and Baur, C. (2001). Overview of the Delta haptic device. Proceedings of Eurohaptics '01, Birmingham , England, July 2001.
10.
Guthart, G.S. and Salisbury, J.K. (2000). The Intuitive telesurgery system: overview and application. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2000).
11.
ISIS Robotics (2008). The SurgiScope. http://www.isisrobotics.com.
12.
Kwon, T.B. and Song, J.-B. (2004). Force display based on simultaneous actuation of motors and brakes. Proceedings of the 2004 International Conference on Control, Automation and Systems, August 2004, pp. 1131-1135.
13.
Lawrence, D.A., Pao, L.Y., Dougherty, A.M., Salada, M.A. and Pavlou, Y. (2000). Rate-hardness: a new performance metric for haptic interfaces. IEEE Transactions on Robotics and Automation, 16(4): 357-371.
14.
Marti, G., Rouiller, P., Grange, S. and Baur, C. (2003). Biopsy navigator: a smart haptic interface for interventional radiological gestures. Proceedings of Computer Assisted Radiology and Surgery, London, 2003.
15.
Massie, T.H. and Salisbury, J.K. (1994) The Phantom haptic interface: a device for probing virtual objects. Proceedings of ASME Dynamics Systems and Control, Vol 1, pp. 295- 301.
16.
Matsuoka, Y. and Townsend, W.T. (2001). Design of life-size haptic environments. Experimental Robotics, Vol. VII, Rus and Singh, ed., 2001. Springer.
17.
Morrell, J.B. and Salisbury, J.K. (1996). Performance measurements for robotic actuators . Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Atlanta, GA, November 1996, pp. 531-537.
18.
Novint Technologies (2007). The Falcon haptic device. http://www.novint.com.
19.
Ramstein, C. and Hayward, V.The Pantograph: a large workspace haptic device for a multi-modal human- computer interaction. Proceedings of the Conference on Human Factors in Computing Systems (CHI'94), Boston, MA, April 1994 (ACM/SIGCHI Companion, 4/94). New York , ACM Press, pp. 57-58.
20.
Salisbury, K., Conti, F. and Barbagli, F. (2004). Haptic rendering: introductory concepts. Proceedings of IEEE CG&A, March-April 2004.
21.
Walairacht, S., Koike, Y. and Sato, M. (1999). A new haptic display for both-hands-operation: SPIDAR-8. Proceedings of the 1999 IEEE International Symposium on Intelligent Siganal Processing and Communication Systems (IS-PACS'99) , Phuket, Thailand, pp. 569-572.
22.
Weghe, M.V., Dellon, B., Kelly, S., Juchniewicz, R. and Matsuoka, Y. (2006). Demonstration of a large dissipative haptic environment . Proceedings IEEE Symposium on Haptic Interfaces for Virtual Teleoperator System, pp. 104.
