Developing hybrid force feedback: coupling brakes and motors can reduce the total actuator size and improve haptics quality

Hand-worn haptic systems must be able to produce high-quality haptics while also being lightweight and energy-efficient. In order to meet market expectations, research is being done into novel drivetrains that may be implemented in hand worn devices. This is being pushed forward by the growing demand in the virtual reality sector, which is placing pressure on the development of new wearable force feedback technology. In order to validate a proof of concept, this thesis proposes a novel force feedback drivetrain with a dual actuator setup-a motor and a brake—that is integrated into a tabletop prototype. Using both a motor and a brake will reduce weight and improve the haptic rendering quality relative to each component when considered separately. To evaluate the presumptive advantages, a theoretical analysis into the suggested hybrid actuation solution is conducted. The analysis comprises of numerous simulations using a model of the hybrid drivetrain's working principle. Additionally, the analysis is employed to investigate and spot any early-stage defects or undesirable behavior. Consequently, a 3D model was created in order to 3D print a functioning prototype in order to apply the theory in a physical version. The prototype is initially used to validate the simulation model and enforce the findings of the theoretical analysis. Force data is measured when using the prototype and in turn is fed into the simulation model to assess whether the output behaviour is consistent with the prototype. Both the model's competence and the prototype's predictability are assessed using the outcomes. Finally, an experiment is conducted to both asses the mechanical performance and predictability as well as the participant's perception; 2 virtual environments and 3 actuation modes (motor, brake, and hybrid) were cross-examined and each repeated 6 times, for a total of 36 trials. This experiment ultimately assesses the prototypes validity and determines whether the t
Mechanical Engineering