Passively actuated clutch for enhanced backdrivability in bidirectional kinesthetic feedback applications
Research output: Contribution to book/conference proceedings/anthology/report › Conference contribution › Contributed › peer-review
Contributors
Abstract
Portable and wearable force feedback devices for the hand present limitations in multiple aspects, related partially to their actuation systems. Commercial solutions commonly perform a trade-off by offering limited force feedback in the grasping motion in exchange for a lower volume, weight and complexity. However bidirectional feedback is usually discarded. In this paper, an inexpensive and compact clutch module design is presented. Passively controlled by the feedback actuator, it enables active torque transmission in both rotation directions, otherwise offering high backdrivability when unclutched. Throughout the various sections the theoretical design, the system’s operation and its characterization will be described, followed by a set of tests and finishing with an analysis of its advantages and disadvantages.
Details
Original language | English |
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Title of host publication | 2021 IEEE World Haptics Conference (WHC), Montreal, QC, Canada |
Pages | 97-102 |
Number of pages | 6 |
ISBN (electronic) | 978-1-6654-1871-3 |
Publication status | Published - 1 Jul 2021 |
Peer-reviewed | Yes |
Publication series
Series | World Haptics Conference (WHC) |
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External IDs
Scopus | 85115183220 |
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ORCID | /0000-0003-4166-1254/work/142236401 |
ORCID | /0000-0002-0803-8818/work/142257042 |