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Main Authors:	Li, Dannuo, Xiong, Quan, Zhou, Xuanyi, Yeow, Raye Chen-Hua
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2411.18387
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author	Li, Dannuo Xiong, Quan Zhou, Xuanyi Yeow, Raye Chen-Hua
author_facet	Li, Dannuo Xiong, Quan Zhou, Xuanyi Yeow, Raye Chen-Hua
contents	Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic haptic device utilizing it as the driving unit. We established a mathematical model and conducted testing experiments to demonstrate the device's ability to stably output controllable feedback force. Our experiments also demonstrates that this device exhibits fast response characteristics. By utilizing the easily controllable nature of the soft electrohydraulic actuator, we were able to achieve high-resolution controllable feedback force output. Furthermore, by modulating the waveform of the driving high voltage, the device acquired the capability to render variable frequency haptic vibration without adding any extra vibration actuator. Using this kinesthetic haptic device, we built a teleoperated robotic system, showcasing the device's potential application as a haptic force feedback system in the field of robotics.
format	Preprint
id	arxiv_https___arxiv_org_abs_2411_18387
institution	arXiv
publishDate	2024
record_format	arxiv
spellingShingle	A Novel Kinesthetic Haptic Feedback Device Driven by Soft Electrohydraulic Actuators Li, Dannuo Xiong, Quan Zhou, Xuanyi Yeow, Raye Chen-Hua Robotics Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic haptic device utilizing it as the driving unit. We established a mathematical model and conducted testing experiments to demonstrate the device's ability to stably output controllable feedback force. Our experiments also demonstrates that this device exhibits fast response characteristics. By utilizing the easily controllable nature of the soft electrohydraulic actuator, we were able to achieve high-resolution controllable feedback force output. Furthermore, by modulating the waveform of the driving high voltage, the device acquired the capability to render variable frequency haptic vibration without adding any extra vibration actuator. Using this kinesthetic haptic device, we built a teleoperated robotic system, showcasing the device's potential application as a haptic force feedback system in the field of robotics.
title	A Novel Kinesthetic Haptic Feedback Device Driven by Soft Electrohydraulic Actuators
topic	Robotics
url	https://arxiv.org/abs/2411.18387

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