Realization of very small haptics display under simultaneous estimation of force and position

2016 Fiscal Year Final Research Report

• Project/Area Number: 15K13922
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Yokohama National University
• Principal Investigator: KAWAMURA ATSUO 横浜国立大学, 大学院工学研究院, 教授 (80186139)
• Project Period (FY): 2015-04-01 – 2017-03-31
• Keywords: アクチュエータ / ハプティクス / バイラテラル

Outline of Final Research Achievements

The essence of this research can be summarized as follows. (1) As a unit element of the 2D surface haptics actuator, a new position senseless scheme was proposed, and the fast estimation of force and position was realized by the improvement of filters and circuits. As a result the cut off frequency of arroximately10 Hz was achieved as for the position response. (2) A bilateral control of the position and force was realized using two of unit elements of above mentioned haptics actuators. (3) A theoretical analysis of the plural actuators is performed and the basic characteristics are clarified. (4) A prototype of 2D actuator was constructed, but the size became large. (5) As for candidate of a small actuator, one stator and 2 stators type small actuator was experimentally constructed. The size is 4 mm length, 4 mm width and 28 mm height.

Free Research Field

工学