Novel oscillatory actuator for haptic device using principle of stepper motor

摘要

Mobile haptic devices are being studied extensively because they have great potential for use as information transfer devices. Amemiya et al. proposed a method for haptic feedback with a slider-crank mechanism that uses an asymmetrical drive. We have recently proposed a haptic device that uses a small two degree-of-freedom (2-DOF) oscillatory actuator. Using this actuator, we have investigated the relationship of the properties of the asymmetric acceleration to haptic perception by conducting experiments on volunteers. Then, by applying a genetic algorithm to the optimization method, we created an optimized asymmetric acceleration waveform. However it has a different oscillations in operating directions. In this report, we propose a new oscillatory actuator using stepper motor principle to realize uniform oscillations in different directions. We verify that the proposed actuator is able to generate an asymmetric acceleration waveform.