향상된 감각 피드백을 위한 공압-자기 통합형 햅틱 장치

Abstract

Transmitting haptic patterns accurately and realistically is an important characteristic in the development of haptic devices. However, when touching a real object, there are high-frequency sensory patterns such as surface pattern or texture and low-frequency sensory patterns such as weight or shape, so there is a limit to transmitting sensory signals with one actuator. In this paper, we propose a Pneumatic-Magnetic integrated module for realistic sensory transmission. The low-frequency component of an arbitrary sensory pattern was implemented using a pneumatic actuator, and the high-frequency component was implemented using a magnetic actuator by following their mechanical characteristics. Several Experiments were conducted to prove the mechanical property of the proposed haptic device. In conclusion, the proposed haptic device is expected to transmit haptic patterns more accurately and realistically.