NDLI: A high fidelity ungrounded torque feedback device: The iTorqU 2.0

Content Provider	IEEE Xplore Digital Library
Author	Winfree, K.N. Gewirtz, J. Mather, T. Fiene, J. Kuchenbecker, K.J.
Copyright Year	2009
Description	Author affiliation: Haptics Group, GRASP Laboratory, University of Pennsylvania, USA (Winfree, K.N.; Gewirtz, J.; Mather, T.; Fiene, J.; Kuchenbecker, K.J.)
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.
Starting Page	261
Ending Page	266
File Size	892631
Page Count	6
File Format	PDF
ISBN	9781424438587
DOI	10.1109/WHC.2009.4810866
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Teleoperators Torque Grounding Virtual environment Feedback Cities and towns Angular velocity Haptic interfaces Flywheels
Content Type	Text
Resource Type	Article

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