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

Personal Author(s) : Brimhall, Owen D. ; Brown, Jeffrey ; Hilton, Allen P. ; James, Kristofer J. ; Curtin, H. R.

PDF Url : ADA312966

Report Date : OCT 1995

Pagination or Media Count : 291

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 cm/sec' 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

Descriptors :   *ACTUATORS, *MAGNETOSTRICTION, *MAGNETOSTRICTIVE ELEMENTS, VELOCITY, COMPUTER PROGRAMS, CONTROL, ANGLES, ELECTRONICS, DETECTORS, HUMANS, MOTION, FEEDBACK, STATIONARY, LIGHTWEIGHT, MOTORS, SENSES(PHYSIOLOGY), FORCE(MECHANICS), TOUCH, PULSE DURATION MODULATION, LOAD CELLS, FINGERS.

Subject Categories : Electrical and Electronic Equipment
      Electricity and Magnetism
      Plasma Physics and Magnetohydrodynamics

Distribution Statement : APPROVED FOR PUBLIC RELEASE