NDLI: Extending the motion ranges of magnetic levitation for haptic interaction

Content Provider	IEEE Xplore Digital Library
Author	Berkelman, P. Dzadovsky, M.
Copyright Year	2009
Description	Author affiliation: University of Hawaii-Manoa, Department of Mechanical Engineering, USA (Berkelman, P.; Dzadovsky, M.)
Abstract	We have developed two different magnetic levitation devices which provide unprecedented ranges of motion in both translation and rotation to a levitated handle to be used for tool-based haptic interaction. The first device levitates a handle attached to a thin spherical shell of flat coils suspended in permanent magnet fields using Lorentz forces. A novel coil type and magnet configuration provides motion ranges of 50 mm and 60 degrees in all directions, double the translation and triple the rotation ranges of the current maximum range Lorentz levitation haptic devices developed at Carnegie Mellon University. The second device uses a planar array of cylindrical coils to levitate a platform of one or more magnets. By using redundant control methods and an experimentally measured high resolution model of the forces and torques generated on the levitated magnets from each coil, the translation range of the magnet in horizontal directions and its rotation in all directions and can be extended potentially indefinitely. The present prototype uses 10 coils to levitate a single magnet over a 80×60 mm planar range, a 30 mm vertical range, and a tilt range of 40 degrees, or to control the yaw rotation of a pair of magnets over 360 degrees. Design and control methods are presented with preliminary motion trajectory results from both devices.
Starting Page	517
Ending Page	522
File Size	918068
Page Count	6
File Format	PDF
ISBN	9781424438587
DOI	10.1109/WHC.2009.4810897
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	Coils Force measurement Torque control Magnetic devices Planar arrays Permanent magnets Haptic interfaces Force control Rotation measurement Magnetic levitation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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