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Design of a device for the high-fidelity haptic rendering of rotatory car doors

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3 Author(s)
Strolz, M. ; Dept. of Electr. Eng. & Inf. Technol., Tech. Univ. Munchen, Munich ; Ehinger, C. ; Buss, M.

To enable a realistic virtual prototyping of both actuated and unactuated rotatory car doors, a dedicated haptic device is developed. A fundamental issue is the derivation of the specific requirements for this interface, which is done based on knowledge of the typical user interaction with a car door and a comprehensive model of the dynamics of an actuated as well as an unactuated car door. The findings are that the device should only exhibit one rotatory degree-of-freedom, which should be actuated by a direct drive with a high torque output (ges 100 Nm) and very high position resolution (ges 16 Bit). A suitable direct-drive is selected and combined with other elements to form a backlash-free, very stiff haptic device. Due to both force and acceleration sensing, it can serve for the haptic rendering of actuated as well as unactuated car doors. Furthermore, a thorough safety scheme ensures a safe operation of the human-system-interaction.

Published in:

Human System Interactions, 2009. HSI '09. 2nd Conference on

Date of Conference:

21-23 May 2009