| Title |
A Force - Reflecting Haptic Interface using Ultrasonic Motors |
| Abstract |
Throughout this thesis, I describe the design, fabrication, and evaluation of the 3 DOF forte-reflecting haptic interface using USMs(ultrasonic motors). This haptic interface allows a human "observer" to explore and interact with a virtual environment for the sense of touch. To effectively display the mechanical impedance of the human hand we need a haptic device with specific characteristics, such as low inertia, almost zero friction and very high stiffness. USMs have attracted considerable attention as the actuator satisfied these conditions. An observer may grasp the end effector of device and interact with surfaces and objects created within a virtual environment. The device provides force feedback, allowing users to "feel" objects within the environment. The device works very well, as users are able to detect the edge of the wall, the stiffness of the button and the puncture. The force-reflecting haptic interface could be suitable as a master for micro-surgery or as an interface to virtual reality training system. |