• 산업기술연구
• /
• 제19권
• /
• pp.351-359
• /
• 1999

If the tactile sense is introduced to engineering and industries, it may provide more realistic virtual tactile sensing to human and it is possible to develop product that satisfy various consumer's taste. This paper presents a compliance emulator system as a new concept of tactile reproduction simulator which uses magnetic levitation in order to minimize friction and emulates compliance only along the vertical direction. Compliance is one of the important mechanical properties of the object related to tactile sensing of the human. The implemented system equipped with an analog LVDT sensor for a position sensor and employs a PD control with gravity compensation to emulate the specified compliance. To compensate the limited range of the system, the method of attaching the spring with various magnitude of stiffness to the system is adopted and its preliminary test is performed to confirm the validity of the method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 G
• /
• pp.2986-2988
• /
• 1999

This paper presents a new concept to implement and to control of tactile reproduction simulator by implementation of compliance emulator system. Compliance emulator system is a kind of levitation system using magnetic force. In the compliance emulator system, a floated plate moves vertically. When an external force is applied to the plate, the system produces a controlled reaction force by using 6 electromagnet. For the control, a LVDT displacement sensor and PD control method is used.