Interacting with Virtual Environments using a Magnetic

A high-performance magnetic levitation haptic interface has been developed to enable the user to interact dynamically with simulated environments by holding a levitated structure and directly feeling its computed force and motion responses. The haptic device consists of a levitated body with six degrees of freedom and motion ranges of 5 mm and 3.5 degrees in all directions. The current device can support weights of up to 20 N and can generate a torque of 1.7 Nm. Control bandwidths of up to 50 Hz and sti nesses from 0.01 to 23 N/mm have been achieved by the device using a digital velocity estimator and 1 KHz control on each axis. The response of the levitated device has been made successfully to emulate virtual devices such as gimbals and bearings as well as di erent dynamic interactions such as hard solid contacts, dry and viscous friction, and textured surfaces.