Haptic interfaces require sepcial actuators with the ability to control the interaction force at high frequency. This project goal was to compare the performance of a novel actuation technology based on MR clutches (built by Exonetik) and traditionnal brushless electric motor. A model for predicting haptic rendering caracteristic was developpped and validated with experiments on a test bench with both types of actuators.
Technical challenges: Actuator design, control scheme, impedance control.
UdeS Team: Louis-Philippe Lebel (MS), Prof. Alexandre Girard and Prof. Jean-Sébastien Plante