A high fidelity ungrounded torque feedback device: The iTorqU 2.0

Kyle N. Winfree, Jamie Gewirtz, Thomas Mather, Jonathan Fiene, Katherine J. Kuchenbecker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

56 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
Pages261-266
Number of pages6
DOIs
StatePublished - 2009
Externally publishedYes
Event3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009 - Salt Lake City, UT, United States
Duration: Mar 18 2009Mar 20 2009

Publication series

NameProceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009

Conference

Conference3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
Country/TerritoryUnited States
CitySalt Lake City, UT
Period3/18/093/20/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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