Torque feedback control of dry friction clutches for a dissipative passive haptic interface
Swanson, Davin K.
Book, Wayne John
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The control of a passive dissipative haptic interface using electromagnetic dry friction clutches as actuators is considered. The performance of the device is currently limited by actuator performance. A dynamic simulation of the system indicates that actuator torque may be better controlled with torque feedback, resulting in improved path-following performance of the haptic interface. Experimental tests are presented which illustrate the validity of the simulation and the feasibility of implementing torque feedback control on the system's clutches.