Passively actuated clutch for enhanced backdrivability in bidirectional kinesthetic feedback applications

Research output: Contribution to book/conference proceedings/anthology/reportConference contributionContributedpeer-review


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.


Original languageEnglish
Title of host publication2021 IEEE World Haptics Conference (WHC), Montreal, QC, Canada
ISBN (electronic)978-1-6654-1871-3
Publication statusPublished - 1 Jul 2021

Publication series

SeriesWorld Haptics Conference (WHC)

External IDs

Scopus 85115183220
ORCID /0000-0003-4166-1254/work/142236401
ORCID /0000-0002-0803-8818/work/142257042