Abstract
In interacting of a human being with machines and processes haptic feedback offers new potential. A haptic display gives either a realistic reproduction of feel to the user, like in teleoperating applications, or it renders artificial effects from a virtual reality scenario. A special, highly demanding case is vehicle or aircraft control often referred to as x-by-wire. There are common requirements for all types of force-feedback devices like high accuracy, high dynamics, excellent controllability or high power density. An electro mechanic servo actuator combined with a Harmonic Drive gear gives a good start for setting up a solution. But for further improvement it is worth to have a closer look at both, the HD gear as a single component and its specific behaviour within the mechatronic system, for key aspects like design, reliability, sensor integration, data acquisition and processing. This paper will report distinctive features of force-feedback applications using Harmonic Drive gears, summarise experiences and enumerates some customer's solutions in academic research or being available on the market.
Published Version
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