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Passively Actuated Clutch for Enhanced Backdrivability in Bidirectional Kinesthetic Feedback Applications | IEEE Conference Publication | IEEE Xplore

Passively Actuated Clutch for Enhanced Backdrivability in Bidirectional Kinesthetic Feedback Applications


Abstract:

Portable and wearable force feedback devices for the hand present limitations in multiple aspects, related partially to their actuation systems. Commercial solutions comm...Show More

Abstract:

Portable and wearable force feedback devices for the hand present limitations in multiple aspects, related partially to their actuation systems. Commercial solutions commonly perform a trade-off by offering limited force feedback in the grasping motion in exchange for a lower volume, weight and complexity. However bidirectional feedback is usually discarded. In this paper, an inexpensive and compact clutch module design is presented. Passively controlled by the feedback actuator, it enables active torque transmission in both rotation directions, otherwise offering high backdrivability when unclutched. Throughout the various sections the theoretical design, the system’s operation and its characterization will be described, followed by a set of tests and finishing with an analysis of its advantages and disadvantages.
Date of Conference: 06-09 July 2021
Date Added to IEEE Xplore: 23 August 2021
ISBN Information:
Conference Location: Montreal, QC, Canada

References

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