Optimization of asymmetric acceleration waveform for haptic device driven by 2-DOF oscillatory actuator

Linear oscillatory actuators (LOAs) have been used in a wide range of applications because they have a lot of advantages: high efficiency, simple structure, easy control, etc. [1]. Small-sized LOAs have a large potential to be used as handheld haptic devices in the near future. Haptic devices that generate a force vector using asymmetric acceleration can create the illusion of a pulling sensation without needing a grounded structure [2]. However, these devices are not suitable for mobile applications because of their size. Furthermore it can only produce a one-DOF force, and also generates unnecessary torque due to the rotation of the connecting rod.