Abstract
A hybrid actuator for haptic devices is proposed in this paper. The actuator is composed of a DC motor and a magneto-rheological (MR) brake to realize transparency and stable force control. Two piston cylinders are connected with a flexible tube to lighten the weight of the structures on the endpoint that interacts with an operator. Also, the MR brake is designed to be suitable for hydraulic transmission. For the proposed hybrid actuator, a cooperative force control method using a pressure sensor instead of a force sensor is proposed. To verify the proposed control algorithm, a virtual wall collision experiment was conducted using a developed prototype of the hybrid actuator.
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