Linear Resonator Actuator-Constructed Wearable Haptic System with the Application of Converting Remote Grinding Force to Vibratory Sensation
Shang-Hsien Liu,
Yung-Chou Kao,
Guo-Hua Feng
Affiliations
Shang-Hsien Liu
Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 300044, Taiwan
Yung-Chou Kao
Advanced Institute of Manufacturing with High-Tech Innovations, and Department of Mechanical Engineering, National Chung Cheng University, Chiayi 621301, Taiwan
Guo-Hua Feng
Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 300044, Taiwan
This study developed a three-axis vibrational haptic wearable device (RCWS) utilizing Linear Resonant Actuators (LRAs) to simulate grinding vibrations. The implementation of RCWS is described in detail. By recording the normal force during manual grinding with a load cell and converting it into a series of PWM commands, the LRA on the RCWS was controlled in open-loop mode using these PWM commands. Three methods were tested for force-to-PWM conversion, two of which showed a linear correlation (>0.7) with raw data. In the correlation between PWM commands and generated acceleration, all three methods exhibited a high linearity of at least 0.85. This wearable RCWS offers a promising approach for users to experience the machining force from the versatile and critical remote machining process with a finger vibratory sensation.
