TY - GEN
T1 - A high fidelity ungrounded torque feedback device
T2 - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
AU - Winfree, Kyle N.
AU - Gewirtz, Jamie
AU - Mather, Thomas
AU - Fiene, Jonathan
AU - Kuchenbecker, Katherine J.
PY - 2009
Y1 - 2009
N2 - This paper discusses the design and operation of the iTorqU 2.0, an ungrounded, handheld torque feedback device for haptic applications. Based upon the gyroscopic effect, the iTorqU 2.0 uses a metal flywheel inside of a two-axis actuated gimbal to create directional torques that are applied to the user's hand. The coupling of angular velocity and angular momentum creates a torque that is orthogonal to the two input angular velocities, giving the user the impression that their hand is being twisted in free air. Following a review of prior work in the field of ungrounded torque feedback devices, we first present our preliminary prototype, the iTorqU 1.0. Building on empirical observations and user feedback from a public demonstration, we revised and augmented this design to create the iTorqU 2.0. This paper covers the major mechanical, electrical, and controls design considerations that went into creating the iTorqU 2.0, along with an analysis of its torque output capabilities.
AB - This paper discusses the design and operation of the iTorqU 2.0, an ungrounded, handheld torque feedback device for haptic applications. Based upon the gyroscopic effect, the iTorqU 2.0 uses a metal flywheel inside of a two-axis actuated gimbal to create directional torques that are applied to the user's hand. The coupling of angular velocity and angular momentum creates a torque that is orthogonal to the two input angular velocities, giving the user the impression that their hand is being twisted in free air. Following a review of prior work in the field of ungrounded torque feedback devices, we first present our preliminary prototype, the iTorqU 1.0. Building on empirical observations and user feedback from a public demonstration, we revised and augmented this design to create the iTorqU 2.0. This paper covers the major mechanical, electrical, and controls design considerations that went into creating the iTorqU 2.0, along with an analysis of its torque output capabilities.
UR - http://www.scopus.com/inward/record.url?scp=67649652350&partnerID=8YFLogxK
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U2 - 10.1109/WHC.2009.4810866
DO - 10.1109/WHC.2009.4810866
M3 - Conference contribution
AN - SCOPUS:67649652350
SN - 9781424438587
T3 - Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
SP - 261
EP - 266
BT - Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
Y2 - 18 March 2009 through 20 March 2009
ER -