Tactile feedback device using repulsive force of the magnets for teleoperation

자석의 반발력을 이용한 원격조종용 촉각궤환장치

  • 안인석 (연세대학교 전기공학과 자동화공학연구실) ;
  • 문용모 (한국과학기술연구원 기전연구부) ;
  • 이정훈 (한국과학기술연구원 기전연구부) ;
  • 박종오 (한국과학기술연구원 기전연구부) ;
  • 이종원 (한국과학기술연구원 기전연구부) ;
  • 우광방 (연세대학교 전기공학과 자동화공학연구실)
  • Published : 1997.02.01


In this paper we developed a tactile feedback device using repulsive force of magnets. The force of the tactile feedback device was derived from the Maxwell's stress method by using the concept of magnetic charge. Magnetic repulsive force is linear function with respect to current and nonlinear to displacement. Experimental data shows these characteristics. To compensate the fact that the presented tactile feedback device can not be controlled by close loop control, we developed a simulation model which predicts output displacement and force by using Runge-Kutta method. And, this paper evaluated the presented tactile feedback device and compared it with commercial tactile feedback devices.


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