Accession Number:

ADA312966

Title:

Advanced Development of New Actuators for Human Sensory Feedback.

Descriptive Note:

Final rept. Jul 93-Oct 95,

Corporate Author:

TECHNICAL RESEARCH ASSOCIATES INC SALT LAKE CITY UT

Report Date:

1995-10-01

Pagination or Media Count:

291.0

Abstract:

The objective of this SBIR Phase II project was to develop a small magnetostrictive actuator using Terfenol-D. The device was configured to be applicable to dexterous force feedback. Several device configurations were studied. The final Terfenol-D actuator was configured as an inchworm motor. The device can be adjusted to be fully back-drivable. The motor is small approx. 3cc, light weight 16 grams, and provides forces 10N max and velocities 14.5 cmsec max appropriate to the task of dexterous force feedback. The motor driven at 5 KHz could be used for both force and tactile feedback. The device was shown to be highly controllable by means of pulse-width modulation and current control methods. The device was demonstrated in several modes constant force on a stationary object, arbitrary force output, constant force on an arbitrarily moving object and arbitrary velocity control. Exoskeleton issues were explored and the motors are integrated into a rudimentary three degree of freedom, force-feedback finger with adjustable virtual axis joints. Each joint has a magnetostrictive motor, angle sensor and load cell. Electronic boards are controlled by simple software to demonstrate the motors and the force-feedback exoskeletal finder

Subject Categories:

  • Electrical and Electronic Equipment
  • Electricity and Magnetism
  • Plasma Physics and Magnetohydrodynamics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE