Abstract
We have constructed a tactile shape display which can be used to convey small scale shape in teleoperation and virtual environments. A line of 10 pins spaced 2 mm on center are each actuated with a shape memory alloy wire. A combination of careful mechanical design and liquid cooling allows a simple proportional controller with constant current feed forward to achieve 40 Hz bandwidth. To quantify the value of increased bandwidth, an experiment involving a prototypical search task has been conducted using the display. A digital filter limited the frequency response of the display to three cutoff frequencies: 1, 5 and 30 Hz. Subjects were able to complete the search more than 6 times as quickly with 30 Hz bandwidth than with 1 Hz.
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8. References
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© 1998 Springer-Verlag London Limited
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Wellman, P.S., Peine, W.J., Favalora, G., Howe, R.D. (1998). Mechanical design and control of a high-bandwidth shape memory alloy tactile display. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112950
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DOI: https://doi.org/10.1007/BFb0112950
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