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Mechanical design and control of a high-bandwidth shape memory alloy tactile display

  • Chapter 1 Dexterous Manipulation
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Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

We have constructed a tactile shape display which can be used to convey small scale shape in teleoperation and virtual environments. A line of 10 pins spaced 2 mm on center are each actuated with a shape memory alloy wire. A combination of careful mechanical design and liquid cooling allows a simple proportional controller with constant current feed forward to achieve 40 Hz bandwidth. To quantify the value of increased bandwidth, an experiment involving a prototypical search task has been conducted using the display. A digital filter limited the frequency response of the display to three cutoff frequencies: 1, 5 and 30 Hz. Subjects were able to complete the search more than 6 times as quickly with 30 Hz bandwidth than with 1 Hz.

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8. References

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Authors and Affiliations

  1. Division of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA

    Parris S. Wellman, William J. Peine, Gregg Favalora & Robert D. Howe

Authors
  1. Parris S. Wellman
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  2. William J. Peine
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  3. Gregg Favalora
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  4. Robert D. Howe
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Wellman, P.S., Peine, W.J., Favalora, G., Howe, R.D. (1998). Mechanical design and control of a high-bandwidth shape memory alloy tactile display. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112950

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  • DOI: https://doi.org/10.1007/BFb0112950

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

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