Interacting with virtual environments using a magnetic levitation haptic interface

A high-performance magnetic levitation haptic interface has been developed to enable the user to interact dynamically with simulated environments by holding a levitated structure and directly feeling its computed force and motion responses. The haptic device consists of a levitated body with six degrees of freedom and motion ranges of /spl plusmn/5 mm and /spl plusmn/3. 5 degrees in all directions. The current device can support weights of up to 20 N and can generate a torque of 1. 7 Nm. Control bandwidths of up to 50 Hz and stiffnesses from 0. 01 to 23 N/mm have been achieved by the device using a digital velocity estimator and 1 KHz control on each axis. The response of the levitated device has been made successfully to emulate virtual devices such as gimbals and bearings as well as different dynamic interactions such as hard solid contacts, dry and viscous friction, and textured surfaces.

Authors

• Peter J. Berkelman
• Ralph L. Hollis
• Septimiu E. Salcudean

Keywords

• Virtual environment
• Magnetic levitation
• Haptic interfaces
• Torque control
• Velocity control
• Computational modeling
• Computer interfaces
• Bandwidth
• Solids
• Friction
• Haptic Interface
• Range Of Motion
• Simulation Environment
• Surface Texture
• Force Feedback
• Control Bandwidth
• Hard Contact
• Interactive
• Magnetic Field
• Dynamic Model
• Nature Of Interactions
• Complex Environment
• Rigid Body
• Virtual World
• Infographic
• Maximum Torque
• Real Interactions
• Virtual Objects
• Static Friction
• Free Motion
• User's Hand
• Single Contact
• Contact Plane
• Rigid Surface
• Physical Simulation
• User Feels
• Force Threshold
• Robotic Arm