Notes on the Virtual Spring Mass System
نویسنده
چکیده
A force feedback system, such as the haptic wheel used in the EECS 461 lab, is capable of exhibiting a wide range of interesting phenomena. It is useful to remember that the system consists of a mechanical device (the wheel in our case), with two feedback loops wrapped around it. As shown in Figure 1, one feedback loop consists of (i) a sensor such as an encoder, tachometer, or strain gauge, (ii) a microprocessor, and (iii) an actuator such as a DC motor. The purpose of the sensor is to measure position, velocity, or force, the purpose of the microprocessor is to implement an algorithm (the virtual world) that takes the sensor input and computes a force output, and the purpose of the motor is to impose that force on the haptic device. The other feedback loop consists of the human sensing the output of the haptic device through the skin, executing some behavior in response, and exerting a force on the haptic device through the muscles.
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