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Abstract: Design of a Single Degree of Freedom Mechancal Breadboard Haptic Display
Design of a Single Degree of Freedom Mechancal Breadboard Haptic Display
Matt Arcy
Masters Thesis, Northwestern University
© 1996 NWU.
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Abstract:
This thesis describes the design and construction of a rotational,
single degree-of-freedom, mechanical breadboard manipulandum. The
manipulandum is designed to study how different mechancial
configurations affect haptic display performance. The device
described in this thesis can be operated with a transmission, or as a
direct drive device with reduced output torques. The operator handle,
position sensors, and a magnetic particle can be placed on either side
of the transmission, allowing the effectiveness of each of the
components to be measured. The design and construction of a linear
amplifier for both the motor and magnetic particle brake is discussed.
Three different virtual walls simulations are run on a 90 MHz PC as
benchmark tests for the manipulandum.
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