Javot et al., CAPT Motor: A Strong Direct-Drive Rotary Haptic Interface, Haptics Symposium 2024
Channel: IEEE Haptics Symposium
Date: 2024-04-05

Haptics Symposium 2024
#haptics #haptics2024
https://www.hapticssymposium.org/
Grounded force-feedback devices require actuators that can output smooth torque with high torque density and high backdrivability. Motors with cogging torque or high torque at the magnetic pole positions need to operate at a sufficiently high speed to smooth the torque ripples. Consequently, precise torque output at low speeds can be achieved only through a backlash-free mechanical transmission such as a cablecapstan drive or a friction wheel. Although the mechanical transmission’s gear ratio increases the force transmitted to the user, it also increases the inertia, friction, and vibrations of the device, considerably reducing the haptic transparency. To address this issue, we designed and built a new brushless ironless motor with a two-phase Lorentz-coil winding structure that can precisely generate high torque even at near-zero speed; it is called the CAPT Motor (Continuous And Precise Torque).