Command-Shaping Control of Linear Resonant Actuators for Haptic Force Generation
Franziska Schlagenhauf, William Singhose, Khalid Sorensen, Kelly Dobson
Abstract
Generating haptic forces in portable electronic devices and wearables is often accomplished with small vibrating motors, such as linear resonant actuators (LRAs). While these motors are favorably small, lightweight, inexpensive, and low-power, they are limited in the types of forces they can generate. Command-shaping techniques are presented that can either accentuate or attenuate haptic forces generated by LRAs. The proposed methods are advantageous because they generate force profiles that cannot be produced by standard haptic libraries. The methods are experimentally verified using a laser vibrometer.
Topics & Concepts
Haptic technologyActuatorWearable computerLinear motorComputer sciencePower (physics)Linear actuatorMechanical engineeringControl theory (sociology)Control engineeringSimulationEngineeringPhysicsControl (management)Artificial intelligenceEmbedded systemQuantum mechanicsTeleoperation and Haptic SystemsDynamics and Control of Mechanical SystemsGeophysics and Sensor Technology