Affiliations: [a] Department of Mechanical Engineering, Pusan National
University, Busan, Korea | [b] Department of Mechanical Engineering, Kokushikan
University, Tokyo, Japan
Correspondence:
[*]
Corresponding author: Myeong-Kwan Park, Applied Fluid Power
Systems Laboratory School of Mechanical Engineering, Pusan National University,
30 Jangjeon-dong, Gumjeong-gu Busan, 609-735, Republic of Korea. Tel.: +82 51
510 2464; Fax: +82 51 514 0685; E-mail: [email protected]
Abstract: This paper is concerned with the transparency improvement of a 1-DOF
(degree-of-freedom) hybrid haptic device with the wide-ranged haptic
reflection. The hybrid haptic device is actuated by the combination of an
active actuator and a passive one. A noble hybrid concept for the haptic device
is proposed for two purposes; one is to improve the transparency of the haptic
device by compensating friction components qualitatively and quantitatively,
and the other is to reflect the wide-ranged force or torque in large workspace.
In the proposed hybrid actuation, the passive actuator is used as the main
source of the reflective output, since it has the passivity property in nature
so that the safety in interaction and the stability in haptic control can be
concurrently guaranteed. The active actuator, which is active in nature, is
used either for compensating back-driven components in the haptic system or for
providing additional outputs in the haptic reflection larger than the maximum
capacity of the passive actuator.
