Mechanical Design and Control of a High-Bandwidth Shape Memory Alloy Tactile Display

@inproceedings{Wellman1997MechanicalDA,
  title={Mechanical Design and Control of a High-Bandwidth Shape Memory Alloy Tactile Display},
  author={Parris S. Wellman and William J. Peine and Gregg Favalora and Robert D. Howe},
  booktitle={ISER},
  year={1997}
}
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… CONTINUE READING

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