Interaction Power Flow Based Control of a 1-DOF Hybrid Haptic Interface

  • Carlos Rossa
  • José Lozada
  • Alain Micaelli
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7283)


A control method based on instantaneous interaction energy is used to control a hybrid haptic actuator, comprising magnetorheological brake and a DC motor, linked in parallel. We have combined this method with a quantitative analysis of interaction forces to develop two control variants, which can determine an optimal sharing of efforts between the active and dissipative actuators and make the system more reactive. The proposed control laws have been validated in a rotary 1-DOF force-feedback device.


force feedback haptic devices hybrid actuator 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Carlos Rossa
    • 1
  • José Lozada
    • 1
  • Alain Micaelli
    • 1
  1. 1.CEA, LIST, Sensorial and Ambient Interfaces LaboratoryGif-sur-Yvette CEDEXFrance

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