초음파 모터 구동 6자유도 역감 장치를 이용한 가상 자석의 구현

Embodiment of Virtual Magnet Using a 6 DOF Force-Reflecting Haptic Inteface by Ultrasonic Motors

This paper proposes virtual-magnetic system by a force-reflecting interface to drive a ultrasonic motors(USMs) To approach virtual magnet in graphic the 6 dDOF force-reflecting interfaces provides force feedback to users as if I is magnetic-force, So users can feel real magnet Effectively to display the magnetic-force we need the interface with specific characteristics such as low inertia almost zero friction and very high stiffness As an actuator for the interface the USMs have many good advantage satisfied these conditions over conventional servo motors. To estimate capability of this virtual-magnetic system we did an experiment of magnetism based on coulomb's law when Coulmb's low apply this experiment it is vey conformable to real magnet