Hybrid Force-Feedback Control for Virtual Environments

Abstract

The scope of this project is the design and implementation of a force-feedback device that utilizes brakes as well as motors for hybrid force control.. The device is a pen-sized device for planar point force-feedback. The design and software are implemented with consideration towards extending the force-feedback technology to three dimensions. The benefits of such a hybrid device include increased safety and realism. Larger forces can be reflected safely in the form of impenetrable constraints and instabilities can reduced or eliminated. The passive force component is the only way to accommodate the model of static friction. Delay in force measurement means that movement would occur before actuators could respond. Frictional forces inherent in the device dictate the perceived static friction, and it is desirable to be able to control the static friction.