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초음파 모터의 위상차 제어를 이용한 3자유도 힘반영 촉각장치 설계
오금곤(Geum-Kon Oh),조진섭(Jin-Sub Cho),김동욱(Dong-Ok Kim),김영동(Young-Dong Kim),김재민(Jae-Min Kim) 전력전자학회 1999 전력전자학술대회 논문집 Vol.1999 No.7
This paper proposes an interfaces contro1 system to drive a ultrasomc motors(USMs). To touch surfaces and objects created within a virtua environment, the 3 DOF force-reflecting interfaces provides force feedback to users, so to feel touching real things. To effectively display the mechanical impedance of the human hand we need a device with specific characteristics, such as low inertia almost zero friction and very high stiffness. As an actuator for direct drive method, the USMs have many good advantages satisfied these conditions over conventional servo motors. To estimate capability of this interface, we did an experiment. The device works very well, as user are able to detect the edge of the wall and the stiffness of the button