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A two-mode six-DOF motion system based on a ball-joint-like spherical motor for haptic applications
2012
Computers and Mathematics with Applications
A ball-joint-like spherical motor capable of offering smooth, continuous multi-DOF motion is presented as an alternative design for haptic applications. With a two-mode configuration, this device can be operated as a joystick manipulating a target in six degreesof-freedom (DOF), and provides realistic force/torque feedback in real-time. Utilizing the magnetic field measurements, the orientation and the torque-to-current coefficients can be computed in parallel; this novel scheme greatly
doi:10.1016/j.camwa.2012.02.037
fatcat:6jwxt3ofdjd6bcsxzw55373i2e